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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.hpp
+25 -3
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@@ -34,6 +34,7 @@
#ifndef _uORBManager_hpp_
#define _uORBManager_hpp_
#include "uORBDeviceNode.hpp"
#include "uORBCommon.hpp"
#include "uORBDeviceMaster.hpp"
@@ -54,6 +55,7 @@
namespace uORB
{
class Manager;
class SubscriptionCallback;
}
/**
@@ -165,7 +167,7 @@ public:
* @param handle handle returned by orb_advertise or orb_advertise_multi.
* @return 0 on success
*/
int orb_unadvertise(orb_advert_t handle);
static int orb_unadvertise(orb_advert_t handle);
/**
* Publish new data to a topic.
@@ -180,7 +182,7 @@ public:
* @param data A pointer to the data to be published.
* @return OK on success, PX4_ERROR otherwise with errno set accordingly.
*/
int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data);
static int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data);
/**
* Subscribe to a topic.
@@ -301,7 +303,7 @@ public:
* @param instance ORB instance
* @return OK if the topic exists, PX4_ERROR otherwise.
*/
int orb_exists(const struct orb_metadata *meta, int instance);
static int orb_exists(const struct orb_metadata *meta, int instance);
/**
* Set the minimum interval between which updates are seen for a subscription.
@@ -335,6 +337,26 @@ public:
*/
int orb_get_interval(int handle, unsigned *interval);
static bool orb_device_node_exists(ORB_ID orb_id, uint8_t instance);
static void *orb_add_internal_subscriber(ORB_ID orb_id, uint8_t instance, unsigned *initial_generation);
static void orb_remove_internal_subscriber(void *node_handle);
static uint8_t orb_get_queue_size(const void *node_handle);
static bool orb_data_copy(void *node_handle, void *dst, unsigned &generation);
static bool register_callback(void *node_handle, SubscriptionCallback *callback_sub);
static void unregister_callback(void *node_handle, SubscriptionCallback *callback_sub);
static uint8_t orb_get_instance(const void *node_handle);
static unsigned updates_available(const void *node_handle, unsigned last_generation) { return static_cast<const DeviceNode *>(node_handle)->updates_available(last_generation); }
static bool is_advertised(const void *node_handle) { return static_cast<const DeviceNode *>(node_handle)->is_advertised(); }
#ifdef ORB_COMMUNICATOR
/**
* Method to set the uORBCommunicator::IChannel instance.