local_position_estimator: move to WQ and delete unused SubscriptionPo…

…llable
PX4 · Nov 22, 2019 · f271efa · f271efa
1 parent db69ff0
commit f271efa
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Showing 19 changed files with 345 additions and 789 deletions.
diff --git a/src/drivers/roboclaw/RoboClaw.hpp b/src/drivers/roboclaw/RoboClaw.hpp
@@ -47,7 +47,6 @@
 #include <stdio.h>
 #include <termios.h>
 #include <lib/parameters/param.h>
-#include <uORB/SubscriptionPollable.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/wheel_encoders.h>
 #include <uORB/topics/actuator_armed.h>

diff --git a/src/lib/controllib/block/Block.cpp b/src/lib/controllib/block/Block.cpp
@@ -42,8 +42,6 @@
 
 #include <cstring>
 
-#include <uORB/SubscriptionPollable.hpp>
-
 namespace control
 {
 
@@ -99,24 +97,6 @@ void Block::updateParams()
 	updateParamsSubclass();
 }
 
-void Block::updateSubscriptions()
-{
-	uORB::SubscriptionPollableNode *sub = getSubscriptions().getHead();
-	int count = 0;
-
-	while (sub != nullptr) {
-		if (count++ > maxSubscriptionsPerBlock) {
-			char name[blockNameLengthMax];
-			getName(name, blockNameLengthMax);
-			PX4_ERR("exceeded max subscriptions for block: %s", name);
-			break;
-		}
-
-		sub->update();
-		sub = sub->getSibling();
-	}
-}
-
 void SuperBlock::setDt(float dt)
 {
 	Block::setDt(dt);
@@ -154,25 +134,6 @@ void SuperBlock::updateChildParams()
 	}
 }
 
-void SuperBlock::updateChildSubscriptions()
-{
-	Block *child = getChildren().getHead();
-	int count = 0;
-
-	while (child != nullptr) {
-		if (count++ > maxChildrenPerBlock) {
-			char name[blockNameLengthMax];
-			getName(name, blockNameLengthMax);
-			PX4_ERR("exceeded max children for block: %s", name);
-			break;
-		}
-
-		child->updateSubscriptions();
-		child = child->getSibling();
-	}
-}
-
 } // namespace control
 
-template class List<uORB::SubscriptionPollableNode *>;
 template class List<control::BlockParamBase *>;
diff --git a/src/lib/controllib/block/Block.hpp b/src/lib/controllib/block/Block.hpp
@@ -40,15 +40,14 @@
 #pragma once
 
 #include <containers/List.hpp>
-#include <uORB/SubscriptionPollable.hpp>
 #include <controllib/block/BlockParam.hpp>
+#include <cstdint>
 
 namespace control
 {
 
 static constexpr uint8_t maxChildrenPerBlock = 100;
 static constexpr uint8_t maxParamsPerBlock = 110;
-static constexpr uint8_t maxSubscriptionsPerBlock = 100;
 static constexpr uint8_t blockNameLengthMax = 40;
 
 // forward declaration
@@ -74,7 +73,6 @@ class __EXPORT Block : public ListNode<Block *>
 	void getName(char *name, size_t n);
 
 	virtual void updateParams();
-	virtual void updateSubscriptions();
 
 	virtual void setDt(float dt) { _dt = dt; }
 	float getDt() { return _dt; }
@@ -84,14 +82,12 @@ class __EXPORT Block : public ListNode<Block *>
 	virtual void updateParamsSubclass() {}
 
 	SuperBlock *getParent() { return _parent; }
-	List<uORB::SubscriptionPollableNode *> &getSubscriptions() { return _subscriptions; }
 	List<BlockParamBase *> &getParams() { return _params; }
 
 	const char *_name;
 	SuperBlock *_parent;
 	float _dt{0.0f};
 
-	List<uORB::SubscriptionPollableNode *> _subscriptions;
 	List<BlockParamBase *> _params;
 };
 
@@ -119,17 +115,9 @@ class __EXPORT SuperBlock :
 		if (getChildren().getHead() != nullptr) { updateChildParams(); }
 	}
 
-	void updateSubscriptions() override
-	{
-		Block::updateSubscriptions();
-
-		if (getChildren().getHead() != nullptr) { updateChildSubscriptions(); }
-	}
-
 protected:
 	List<Block *> &getChildren() { return _children; }
 	void updateChildParams();
-	void updateChildSubscriptions();
 
 	List<Block *> _children;
 };