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This commit is contained in:
Matthias Grob
2022-06-30 16:10:40 +02:00
parent 437148f8f3
commit 25ed6b67fb
2694 changed files with 103014 additions and 118862 deletions
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platforms/common/uORB/uORBDeviceNode.cpp
+58 -96
View File
@@ -33,10 +33,9 @@
#include "uORBDeviceNode.hpp"
#include "uORBUtils.hpp"
#include "uORBManager.hpp"
#include "SubscriptionCallback.hpp"
#include "uORBManager.hpp"
#include "uORBUtils.hpp"
#ifdef ORB_COMMUNICATOR
#include "uORBCommunicator.hpp"
@@ -46,13 +45,14 @@
#include <nuttx/mm/mm.h>
#endif
static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast<uORB::SubscriptionInterval *>(filp->f_priv); }
static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) {
return static_cast<uORB::SubscriptionInterval *>(filp->f_priv);
}
// round up to nearest power of two
// Such as 0 => 1, 1 => 1, 2 => 2 ,3 => 4, 10 => 16, 60 => 64, 65...255 => 128
// Note: When the input value > 128, the output is always 128
static inline uint8_t round_pow_of_two_8(uint8_t n)
{
static inline uint8_t round_pow_of_two_8(uint8_t n) {
if (n == 0) {
return 1;
}
@@ -74,16 +74,13 @@ static inline uint8_t round_pow_of_two_8(uint8_t n)
}
uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
uint8_t queue_size) :
CDev(strdup(path)), // success is checked in CDev::init
_meta(meta),
_instance(instance),
_queue_size(round_pow_of_two_8(queue_size))
{
}
uint8_t queue_size)
: CDev(strdup(path)), // success is checked in CDev::init
_meta(meta),
_instance(instance),
_queue_size(round_pow_of_two_8(queue_size)) {}
uORB::DeviceNode::~DeviceNode()
{
uORB::DeviceNode::~DeviceNode() {
free(_data);
const char *devname = get_devname();
@@ -97,12 +94,9 @@ uORB::DeviceNode::~DeviceNode()
}
}
int
uORB::DeviceNode::open(cdev::file_t *filp)
{
int uORB::DeviceNode::open(cdev::file_t *filp) {
/* is this a publisher? */
if (filp->f_oflags == PX4_F_WRONLY) {
lock();
mark_as_advertised();
unlock();
@@ -113,7 +107,6 @@ uORB::DeviceNode::open(cdev::file_t *filp)
/* is this a new subscriber? */
if (filp->f_oflags == PX4_F_RDONLY) {
/* allocate subscriber data */
SubscriptionInterval *sd = new SubscriptionInterval(_meta, 0, _instance);
@@ -141,9 +134,7 @@ uORB::DeviceNode::open(cdev::file_t *filp)
return -EINVAL;
}
int
uORB::DeviceNode::close(cdev::file_t *filp)
{
int uORB::DeviceNode::close(cdev::file_t *filp) {
if (filp->f_oflags == PX4_F_RDONLY) { /* subscriber */
SubscriptionInterval *sd = filp_to_subscription(filp);
delete sd;
@@ -152,9 +143,7 @@ uORB::DeviceNode::close(cdev::file_t *filp)
return CDev::close(filp);
}
ssize_t
uORB::DeviceNode::read(cdev::file_t *filp, char *buffer, size_t buflen)
{
ssize_t uORB::DeviceNode::read(cdev::file_t *filp, char *buffer, size_t buflen) {
/* if the caller's buffer is the wrong size, that's an error */
if (buflen != _meta->o_size) {
return -EIO;
@@ -163,9 +152,7 @@ uORB::DeviceNode::read(cdev::file_t *filp, char *buffer, size_t buflen)
return filp_to_subscription(filp)->copy(buffer) ? _meta->o_size : 0;
}
ssize_t
uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
{
ssize_t uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen) {
/*
* Writes are legal from interrupt context as long as the
* object has already been initialised from thread context.
@@ -176,7 +163,6 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
* Note that filp will usually be NULL.
*/
if (nullptr == _data) {
#ifdef __PX4_NUTTX
if (!up_interrupt_context()) {
@@ -187,7 +173,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
/* re-check size */
if (nullptr == _data) {
const size_t data_size = _meta->o_size * _queue_size;
_data = (uint8_t *) px4_cache_aligned_alloc(data_size);
_data = (uint8_t *)px4_cache_aligned_alloc(data_size);
memset(_data, 0, data_size);
}
@@ -232,50 +218,46 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
return _meta->o_size;
}
int
uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
int uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) {
switch (cmd) {
case ORBIOCUPDATED: {
case ORBIOCUPDATED: {
ATOMIC_ENTER;
*(bool *)arg = filp_to_subscription(filp)->updated();
ATOMIC_LEAVE;
return PX4_OK;
}
case ORBIOCSETINTERVAL:
filp_to_subscription(filp)->set_interval_us(arg);
return PX4_OK;
case ORBIOCSETINTERVAL:
filp_to_subscription(filp)->set_interval_us(arg);
return PX4_OK;
case ORBIOCGADVERTISER:
*(uintptr_t *)arg = (uintptr_t)this;
return PX4_OK;
case ORBIOCGADVERTISER:
*(uintptr_t *)arg = (uintptr_t)this;
return PX4_OK;
case ORBIOCSETQUEUESIZE: {
case ORBIOCSETQUEUESIZE: {
lock();
int ret = update_queue_size(arg);
unlock();
return ret;
}
case ORBIOCGETINTERVAL:
*(unsigned *)arg = filp_to_subscription(filp)->get_interval_us();
return PX4_OK;
case ORBIOCGETINTERVAL:
*(unsigned *)arg = filp_to_subscription(filp)->get_interval_us();
return PX4_OK;
case ORBIOCISADVERTISED:
*(unsigned long *)arg = _advertised;
case ORBIOCISADVERTISED:
*(unsigned long *)arg = _advertised;
return PX4_OK;
return PX4_OK;
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
ssize_t
uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *data)
{
ssize_t uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *data) {
uORB::DeviceNode *devnode = (uORB::DeviceNode *)handle;
int ret;
@@ -322,8 +304,7 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
return PX4_OK;
}
int uORB::DeviceNode::unadvertise(orb_advert_t handle)
{
int uORB::DeviceNode::unadvertise(orb_advert_t handle) {
if (handle == nullptr) {
return -EINVAL;
}
@@ -347,8 +328,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
}
#ifdef ORB_COMMUNICATOR
int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta)
{
int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta) {
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && meta != nullptr) {
@@ -359,8 +339,8 @@ int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta)
}
/*
//TODO: Check if we need this since we only unadvertise when things all shutdown and it doesn't actually remove the device
int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta)
//TODO: Check if we need this since we only unadvertise when things all shutdown and it doesn't actually remove the
device int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta)
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && meta != nullptr) {
@@ -371,25 +351,19 @@ int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta)
*/
#endif /* ORB_COMMUNICATOR */
px4_pollevent_t
uORB::DeviceNode::poll_state(cdev::file_t *filp)
{
px4_pollevent_t uORB::DeviceNode::poll_state(cdev::file_t *filp) {
// If the topic appears updated to the subscriber, say so.
return filp_to_subscription(filp)->updated() ? POLLIN : 0;
}
void
uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t events)
{
void uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t events) {
// If the topic looks updated to the subscriber, go ahead and notify them.
if (filp_to_subscription((cdev::file_t *)fds->priv)->updated()) {
CDev::poll_notify_one(fds, events);
}
}
bool
uORB::DeviceNode::print_statistics(int max_topic_length)
{
bool uORB::DeviceNode::print_statistics(int max_topic_length) {
if (!_advertised) {
return false;
}
@@ -408,8 +382,7 @@ uORB::DeviceNode::print_statistics(int max_topic_length)
return true;
}
void uORB::DeviceNode::add_internal_subscriber()
{
void uORB::DeviceNode::add_internal_subscriber() {
lock();
_subscriber_count++;
@@ -417,7 +390,7 @@ void uORB::DeviceNode::add_internal_subscriber()
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && _subscriber_count > 0) {
unlock(); //make sure we cannot deadlock if add_subscription calls back into DeviceNode
unlock(); // make sure we cannot deadlock if add_subscription calls back into DeviceNode
ch->add_subscription(_meta->o_name, 1);
} else
@@ -428,8 +401,7 @@ void uORB::DeviceNode::add_internal_subscriber()
}
}
void uORB::DeviceNode::remove_internal_subscriber()
{
void uORB::DeviceNode::remove_internal_subscriber() {
lock();
_subscriber_count--;
@@ -437,7 +409,7 @@ void uORB::DeviceNode::remove_internal_subscriber()
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && _subscriber_count == 0) {
unlock(); //make sure we cannot deadlock if remove_subscription calls back into DeviceNode
unlock(); // make sure we cannot deadlock if remove_subscription calls back into DeviceNode
ch->remove_subscription(_meta->o_name);
} else
@@ -448,31 +420,27 @@ void uORB::DeviceNode::remove_internal_subscriber()
}
#ifdef ORB_COMMUNICATOR
int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
{
int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz) {
// if there is already data in the node, send this out to
// the remote entity.
// send the data to the remote entity.
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
ch->send_message(_meta->o_name, _meta->o_size, _data);
}
return PX4_OK;
}
int16_t uORB::DeviceNode::process_remove_subscription()
{
return PX4_OK;
}
int16_t uORB::DeviceNode::process_remove_subscription() { return PX4_OK; }
int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data)
{
int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data) {
int16_t ret = -1;
if (length != (int32_t)(_meta->o_size)) {
PX4_ERR("Received '%s' with DataLength[%d] != ExpectedLen[%d]", _meta->o_name, (int)length, (int)_meta->o_size);
PX4_ERR("Received '%s' with DataLength[%d] != ExpectedLen[%d]", _meta->o_name, (int)length,
(int)_meta->o_size);
return PX4_ERROR;
}
@@ -492,13 +460,12 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
}
#endif /* ORB_COMMUNICATOR */
int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
{
int uORB::DeviceNode::update_queue_size(unsigned int queue_size) {
if (_queue_size == queue_size) {
return PX4_OK;
}
//queue size is limited to 255 for the single reason that we use uint8 to store it
// queue size is limited to 255 for the single reason that we use uint8 to store it
if (_data || _queue_size > queue_size || queue_size > 255) {
return PX4_ERROR;
}
@@ -507,8 +474,7 @@ int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
return PX4_OK;
}
unsigned uORB::DeviceNode::get_initial_generation()
{
unsigned uORB::DeviceNode::get_initial_generation() {
ATOMIC_ENTER;
// If there any previous publications allow the subscriber to read them
@@ -519,9 +485,7 @@ unsigned uORB::DeviceNode::get_initial_generation()
return generation;
}
bool
uORB::DeviceNode::register_callback(uORB::SubscriptionCallback *callback_sub)
{
bool uORB::DeviceNode::register_callback(uORB::SubscriptionCallback *callback_sub) {
if (callback_sub != nullptr) {
ATOMIC_ENTER;
@@ -541,9 +505,7 @@ uORB::DeviceNode::register_callback(uORB::SubscriptionCallback *callback_sub)
return false;
}
void
uORB::DeviceNode::unregister_callback(uORB::SubscriptionCallback *callback_sub)
{
void uORB::DeviceNode::unregister_callback(uORB::SubscriptionCallback *callback_sub) {
ATOMIC_ENTER;
_callbacks.remove(callback_sub);
ATOMIC_LEAVE;