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events interface: chance uORB 'sequence' to 'event_sequence' 

The reason is that sequence is an IDL reserved keyword, which results on failure when parsing with FastRTPSGen.
This commit is contained in:
TSC21 2021-07-09 11:39:01 +02:00 committed by Beat Küng
parent 5a370bf575
commit e39e3b3418
4 changed files with 7 additions and 8 deletions
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3
msg/event.msg
View File

@ -2,10 +2,9 @@
uint64 timestamp # time since system start (microseconds)
uint32 id # Event ID
uint16 sequence # Sequence number
uint16 event_sequence # Event sequence number
uint8[25] arguments # (optional) arguments, depend on event id
uint8 log_levels # Log levels: 4 bits MSB: internal, 4 bits LSB: external
uint8 ORB_QUEUE_LENGTH = 8

2
platforms/common/events.cpp
View File

@ -55,7 +55,7 @@ void send(EventType &event)
// - we need to ensure ordering of the sequence numbers: the sequence we set here
// has to be the one published next.
pthread_mutex_lock(&publish_event_mutex);
event.sequence = ++event_sequence; // Set the sequence here so we're able to detect uORB queue overflows
event.event_sequence = ++event_sequence; // Set the sequence here so we're able to detect uORB queue overflows
if (orb_event_pub != nullptr) {
orb_publish(ORB_ID(event), orb_event_pub, &event);

8
src/modules/logger/logger.cpp
View File

@ -947,9 +947,9 @@ bool Logger::handle_event_updates(uint32_t &total_bytes)
} else {
// adjust sequence number
uint16_t updated_sequence;
memcpy(&updated_sequence, &orb_event->sequence, sizeof(updated_sequence));
memcpy(&updated_sequence, &orb_event->event_sequence, sizeof(updated_sequence));
updated_sequence -= _event_sequence_offset;
memcpy(&orb_event->sequence, &updated_sequence, sizeof(updated_sequence));
memcpy(&orb_event->event_sequence, &updated_sequence, sizeof(updated_sequence));
size_t msg_size = sizeof(ulog_message_data_header_s) + _event_subscription.get_topic()->o_size_no_padding;
uint16_t write_msg_size = static_cast<uint16_t>(msg_size - ULOG_MSG_HEADER_LEN);
@ -974,9 +974,9 @@ bool Logger::handle_event_updates(uint32_t &total_bytes)
// mission log: only warnings or higher
if (events::internalLogLevel(orb_event->log_levels) <= events::LogLevelInternal::Warning) {
if (_writer.is_started(LogType::Mission)) {
memcpy(&updated_sequence, &orb_event->sequence, sizeof(updated_sequence));
memcpy(&updated_sequence, &orb_event->event_sequence, sizeof(updated_sequence));
updated_sequence -= _event_sequence_offset_mission;
memcpy(&orb_event->sequence, &updated_sequence, sizeof(updated_sequence));
memcpy(&orb_event->event_sequence, &updated_sequence, sizeof(updated_sequence));
if (write_message(LogType::Mission, _msg_buffer, msg_size)) {
data_written = true;

2
src/modules/mavlink/mavlink_main.cpp
View File

@ -2473,7 +2473,7 @@ Mavlink::task_main(int argc, char *argv[])
events::Event e;
e.id = orb_event.id;
e.timestamp_ms = orb_event.timestamp / 1000;
e.sequence = orb_event.sequence - event_sequence_offset;
e.sequence = orb_event.event_sequence - event_sequence_offset;
e.log_levels = orb_event.log_levels;
static_assert(sizeof(e.arguments) == sizeof(orb_event.arguments),
"uorb message event: arguments size mismatch");