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uORB Remote Manager Update (#20623)

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This commit is contained in:
Zachary Lowell
2022-11-17 15:51:01 -06:00
committed by GitHub
parent 8b7c074680
commit 52b16d062c
13 changed files with 86 additions and 53 deletions
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platforms/common/uORB/uORBDeviceNode.cpp
+12 -24
View File
@@ -38,9 +38,9 @@
#include "SubscriptionCallback.hpp"
#ifdef ORB_COMMUNICATOR
#ifdef CONFIG_ORB_COMMUNICATOR
#include "uORBCommunicator.hpp"
#endif /* ORB_COMMUNICATOR */
#endif /* CONFIG_ORB_COMMUNICATOR */
#if defined(__PX4_NUTTX)
#include <nuttx/mm/mm.h>
@@ -304,7 +304,7 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
return PX4_ERROR;
}
#ifdef ORB_COMMUNICATOR
#ifdef CONFIG_ORB_COMMUNICATOR
/*
* if the write is successful, send the data over the Multi-ORB link
*/
@@ -317,7 +317,7 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
}
}
#endif /* ORB_COMMUNICATOR */
#endif /* CONFIG_ORB_COMMUNICATOR */
return PX4_OK;
}
@@ -346,7 +346,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
return PX4_OK;
}
#ifdef ORB_COMMUNICATOR
#ifdef CONFIG_ORB_COMMUNICATOR
int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta)
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
@@ -357,19 +357,7 @@ int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta)
return -1;
}
/*
//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) {
return ch->topic_unadvertised(meta->o_name);
}
return -1;
}
*/
#endif /* ORB_COMMUNICATOR */
#endif /* CONFIG_ORB_COMMUNICATOR */
px4_pollevent_t
uORB::DeviceNode::poll_state(cdev::file_t *filp)
@@ -413,7 +401,7 @@ void uORB::DeviceNode::add_internal_subscriber()
lock();
_subscriber_count++;
#ifdef ORB_COMMUNICATOR
#ifdef CONFIG_ORB_COMMUNICATOR
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && _subscriber_count > 0) {
@@ -421,7 +409,7 @@ void uORB::DeviceNode::add_internal_subscriber()
ch->add_subscription(_meta->o_name, 1);
} else
#endif /* ORB_COMMUNICATOR */
#endif /* CONFIG_ORB_COMMUNICATOR */
{
unlock();
@@ -433,7 +421,7 @@ void uORB::DeviceNode::remove_internal_subscriber()
lock();
_subscriber_count--;
#ifdef ORB_COMMUNICATOR
#ifdef CONFIG_ORB_COMMUNICATOR
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
if (ch != nullptr && _subscriber_count == 0) {
@@ -441,13 +429,13 @@ void uORB::DeviceNode::remove_internal_subscriber()
ch->remove_subscription(_meta->o_name);
} else
#endif /* ORB_COMMUNICATOR */
#endif /* CONFIG_ORB_COMMUNICATOR */
{
unlock();
}
}
#ifdef ORB_COMMUNICATOR
#ifdef CONFIG_ORB_COMMUNICATOR
int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
{
// if there is already data in the node, send this out to
@@ -490,7 +478,7 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
return PX4_OK;
}
#endif /* ORB_COMMUNICATOR */
#endif /* CONFIG_ORB_COMMUNICATOR */
int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
{