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Add IOCTL interface to uORBManager for nuttx protected/kernel build split

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When building uORB for NuttX flat build, or for some other target, everything
works as before.

When building uORB for NuttX protected or kernel build, this does the following:
- The kernel side uORB library reigsters a boardctl handler for calls from userspace
  and services the boardctl_ioctls by calling the actual uORB functions
- For user mode binaries, the uORBManager acts as a proxy, making boardctl_ioctl calls to the
  kernel side

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2022-02-14 09:10:49 +01:00
committed by Beat Küng
parent 8b9a856cf7
commit 36d440f895
5 changed files with 657 additions and 8 deletions
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platforms/common/uORB/uORB.cpp
+18
View File
@@ -41,10 +41,15 @@
#include "uORBManager.hpp"
#include "uORBCommon.hpp"
#include <lib/drivers/device/Device.hpp>
#include <matrix/Quaternion.hpp>
#include <mathlib/mathlib.h>
#ifdef __PX4_NUTTX
#include <sys/boardctl.h>
#endif
static uORB::DeviceMaster *g_dev = nullptr;
int uorb_start(void)
@@ -60,6 +65,7 @@ int uorb_start(void)
return -ENOMEM;
}
#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
/* create the driver */
g_dev = uORB::Manager::get_instance()->get_device_master();
@@ -67,11 +73,15 @@ int uorb_start(void)
return -errno;
}
#endif
return OK;
}
int uorb_status(void)
{
#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
if (g_dev != nullptr) {
g_dev->printStatistics();
@@ -79,11 +89,16 @@ int uorb_status(void)
PX4_INFO("uorb is not running");
}
#else
boardctl(ORBIOCDEVMASTERCMD, ORB_DEVMASTER_STATUS);
#endif
return OK;
}
int uorb_top(char **topic_filter, int num_filters)
{
#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
if (g_dev != nullptr) {
g_dev->showTop(topic_filter, num_filters);
@@ -91,6 +106,9 @@ int uorb_top(char **topic_filter, int num_filters)
PX4_INFO("uorb is not running");
}
#else
boardctl(ORBIOCDEVMASTERCMD, ORB_DEVMASTER_TOP);
#endif
return OK;
}