ADIS16477_gyro::~ADIS16477_gyro()
{
if (_gyro_class_instance != -1) {
unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
}
}
LSM303D_mag::~LSM303D_mag()
{
if (_mag_class_instance != -1)
unregister_class_devname(MAG_DEVICE_PATH, _mag_class_instance);
}
void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
{
assert(report != nullptr);
Channel *channel = nullptr;
// Checking if such channel already exists
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].node_id == node_id) {
channel = _channels + i;
break;
}
}
// No such channel - try to create one
if (channel == nullptr) {
if (_out_of_channels) {
return; // Give up immediately - saves some CPU time
}
log("adding channel %d...", node_id);
// Search for the first free channel
for (unsigned i = 0; i < _max_channels; i++) {
if (_channels[i].node_id < 0) {
channel = _channels + i;
break;
}
}
// No free channels left
if (channel == nullptr) {
_out_of_channels = true;
log("out of channels");
return;
}
// update device id as we now know our device node_id
_device_id.devid_s.address = static_cast<uint8_t>(node_id);
// Ask the CDev helper which class instance we can take
const int class_instance = register_class_devname(_class_devname);
if (class_instance < 0 || class_instance >= int(_max_channels)) {
_out_of_channels = true;
log("out of class instances");
(void)unregister_class_devname(_class_devname, class_instance);
return;
}
// Publish to the appropriate topic, abort on failure
channel->node_id = node_id;
channel->class_instance = class_instance;
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_HIGH);
if (channel->orb_advert < 0) {
log("ADVERTISE FAILED");
(void)unregister_class_devname(_class_devname, class_instance);
*channel = Channel();
return;
}
log("channel %d class instance %d ok", channel->node_id, channel->class_instance);
}
assert(channel != nullptr);
(void)orb_publish(_orb_topic, channel->orb_advert, report);
}
