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Clean up interfaces towards uORB

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Proxy all calls to the DeviceNode through Manager;
- This hides the DeviceNode from publishers and subscribers
- Manager can be made an interface class between user and kernel spaces in protected build
- This doesn't increase code size or harm the performance on flat build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2021-11-24 09:11:45 +01:00
committed by Beat Küng
parent 99d3b2a4e4
commit 0b9505453d
8 changed files with 121 additions and 57 deletions
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platforms/common/uORB/Subscription.cpp
+9 -26
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@@ -49,25 +49,14 @@ bool Subscription::subscribe()
return true;
}
if ((_orb_id != ORB_ID::INVALID) && uORB::Manager::get_instance()) {
DeviceMaster *device_master = uORB::Manager::get_instance()->get_device_master();
if (_orb_id != ORB_ID::INVALID && uORB::Manager::get_instance()) {
unsigned initial_generation;
void *node = uORB::Manager::orb_add_internal_subscriber(_orb_id, _instance, &initial_generation);
if (device_master != nullptr) {
if (!device_master->deviceNodeExists(_orb_id, _instance)) {
return false;
}
uORB::DeviceNode *node = device_master->getDeviceNode(get_topic(), _instance);
if (node != nullptr) {
_node = node;
_node->add_internal_subscriber();
_last_generation = _node->get_initial_generation();
return true;
}
if (node) {
_node = node;
_last_generation = initial_generation;
return true;
}
}
@@ -77,7 +66,7 @@ bool Subscription::subscribe()
void Subscription::unsubscribe()
{
if (_node != nullptr) {
_node->remove_internal_subscriber();
uORB::Manager::orb_remove_internal_subscriber(_node);
}
_node = nullptr;
@@ -87,13 +76,7 @@ void Subscription::unsubscribe()
bool Subscription::ChangeInstance(uint8_t instance)
{
if (instance != _instance) {
DeviceMaster *device_master = uORB::Manager::get_instance()->get_device_master();
if (device_master != nullptr) {
if (!device_master->deviceNodeExists(_orb_id, instance)) {
return false;
}
if (uORB::Manager::orb_device_node_exists(_orb_id, _instance)) {
// if desired new instance exists, unsubscribe from current
unsubscribe();
_instance = instance;