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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/uORBManager.cpp
+63 -2
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@@ -112,8 +112,10 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
return ret;
}
if (get_device_master()) {
uORB::DeviceNode *node = _device_master->getDeviceNode(meta, instance);
uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();
if (dev) {
uORB::DeviceNode *node = dev->getDeviceNode(meta, instance);
if (node != nullptr) {
if (node->is_advertised()) {
@@ -319,6 +321,65 @@ int uORB::Manager::orb_get_interval(int handle, unsigned *interval)
return ret;
}
bool uORB::Manager::orb_device_node_exists(ORB_ID orb_id, uint8_t instance)
{
DeviceMaster *device_master = uORB::Manager::get_instance()->get_device_master();
return device_master != nullptr &&
device_master->deviceNodeExists(orb_id, instance);
}
void *uORB::Manager::orb_add_internal_subscriber(ORB_ID orb_id, uint8_t instance, unsigned *initial_generation)
{
uORB::DeviceNode *node = nullptr;
DeviceMaster *device_master = uORB::Manager::get_instance()->get_device_master();
if (device_master != nullptr) {
node = device_master->getDeviceNode(get_orb_meta(orb_id), instance);
if (node) {
node->add_internal_subscriber();
*initial_generation = node->get_initial_generation();
}
}
return node;
}
void uORB::Manager::orb_remove_internal_subscriber(void *node_handle)
{
static_cast<DeviceNode *>(node_handle)->remove_internal_subscriber();
}
uint8_t uORB::Manager::orb_get_queue_size(const void *node_handle) { return static_cast<const DeviceNode *>(node_handle)->get_queue_size(); }
bool uORB::Manager::orb_data_copy(void *node_handle, void *dst, unsigned &generation)
{
return static_cast<DeviceNode *>(node_handle)->copy(dst, generation);
}
// add item to list of work items to schedule on node update
bool uORB::Manager::register_callback(void *node_handle, SubscriptionCallback *callback_sub)
{
return static_cast<DeviceNode *>(node_handle)->register_callback(callback_sub);
}
// remove item from list of work items
void uORB::Manager::unregister_callback(void *node_handle, SubscriptionCallback *callback_sub)
{
static_cast<DeviceNode *>(node_handle)->unregister_callback(callback_sub);
}
uint8_t uORB::Manager::orb_get_instance(const void *node_handle)
{
if (node_handle) {
return static_cast<const uORB::DeviceNode *>(node_handle)->get_instance();
}
return -1;
}
int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, int *instance)
{
char path[orb_maxpath];