uorb: merge nuttx & posix files

src/modules/uORB/CMakeLists.txt

@@ -45,26 +45,9 @@ set(SRCS
 	Publication.cpp
 	Subscription.cpp
 	uORBManager.cpp
+	uORBDevices.cpp
 	)
 
-if(${OS} STREQUAL "nuttx")
-	list(APPEND SRCS
-		uORBDevices_nuttx.cpp
-		)
-elseif(${OS} STREQUAL "posix")
-	list(APPEND SRCS
-		uORBDevices_posix.cpp
-		)
-elseif(${OS} STREQUAL "posix-arm")
-	list(APPEND SRCS
-		uORBDevices_posix.cpp
-		)
-elseif(${OS} STREQUAL "qurt")
-	list(APPEND SRCS
-		uORBDevices_posix.cpp
-		)
-endif()
-
 px4_add_module(
 	MODULE modules__uORB
 	MAIN uorb

src/modules/uORB/uORBDevices.cpp

@@ -51,9 +51,9 @@
 	UNUSED(node_name_str);
 
 #else
+#include <algorithm>
 #define FILE_FLAGS(filp) filp->flags
 #define FILE_PRIV(filp) filp->priv
-#include <algorithm>
 #define ATOMIC_ENTER lock()
 #define ATOMIC_LEAVE unlock()
 #define ITERATE_NODE_MAP() \
@@ -64,7 +64,7 @@
 	UNUSED(node_name_str);
 #endif
 
-#include "uORBDevices_nuttx.hpp"
+#include "uORBDevices.hpp"
 #include "uORBUtils.hpp"
 #include "uORBManager.hpp"
 #include "uORBCommunicator.hpp"

src/modules/uORB/uORBDevices.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -30,10 +30,309 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
+
 #pragma once
 
+#include <stdint.h>
+#include "uORBCommon.hpp"
+
+
 #ifdef __PX4_NUTTX
-#include "uORBDevices_nuttx.hpp"
+#include <string.h>
-#elif defined (__PX4_POSIX)
+#include <stdlib.h>
-#include "uORBDevices_posix.hpp"
+#include "ORBMap.hpp"
+
+namespace device
+{
+//type mappings to NuttX
+typedef ::file file_t;
+typedef CDev VDev;
+}
+
+#else
+
+#include <string>
+#include <map>
+
+#endif /* __PX4_NUTTX */
+
+
+
+namespace uORB
+{
+class DeviceNode;
+class DeviceMaster;
+class Manager;
+}
+
+/**
+ * Per-object device instance.
+ */
+class uORB::DeviceNode : public device::VDev
+{
+public:
+	DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
+		   int priority, unsigned int queue_size = 1);
+	~DeviceNode();
+
+	/**
+	 * Method to create a subscriber instance and return the struct
+	 * pointing to the subscriber as a file pointer.
+	 */
+	virtual int open(device::file_t *filp);
+
+	/**
+	 * Method to close a subscriber for this topic.
+	 */
+	virtual int   close(device::file_t *filp);
+
+	/**
+	 * reads data from a subscriber node to the buffer provided.
+	 * @param filp
+	 *   The subscriber from which the data needs to be read from.
+	 * @param buffer
+	 *   The buffer into which the data is read into.
+	 * @param buflen
+	 *   the length of the buffer
+	 * @return
+	 *   ssize_t the number of bytes read.
+	 */
+	virtual ssize_t   read(device::file_t *filp, char *buffer, size_t buflen);
+
+	/**
+	 * writes the published data to the internal buffer to be read by
+	 * subscribers later.
+	 * @param filp
+	 *   the subscriber; this is not used.
+	 * @param buffer
+	 *   The buffer for the input data
+	 * @param buflen
+	 *   the length of the buffer.
+	 * @return ssize_t
+	 *   The number of bytes that are written
+	 */
+	virtual ssize_t   write(device::file_t *filp, const char *buffer, size_t buflen);
+
+	/**
+	 * IOCTL control for the subscriber.
+	 */
+	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Method to publish a data to this node.
+	 */
+	static ssize_t    publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
+
+	static int        unadvertise(orb_advert_t handle);
+
+	/**
+	 * processes a request for add subscription from remote
+	 * @param rateInHz
+	 *   Specifies the desired rate for the message.
+	 * @return
+	 *   0 = success
+	 *   otherwise failure.
+	 */
+	int16_t process_add_subscription(int32_t rateInHz);
+
+	/**
+	 * processes a request to remove a subscription from remote.
+	 */
+	int16_t process_remove_subscription();
+
+	/**
+	 * processed the received data message from remote.
+	 */
+	int16_t process_received_message(int32_t length, uint8_t *data);
+
+	/**
+	  * Add the subscriber to the node's list of subscriber.  If there is
+	  * remote proxy to which this subscription needs to be sent, it will
+	  * done via uORBCommunicator::IChannel interface.
+	  * @param sd
+	  *   the subscriber to be added.
+	  */
+	void add_internal_subscriber();
+
+	/**
+	 * Removes the subscriber from the list.  Also notifies the remote
+	 * if there a uORBCommunicator::IChannel instance.
+	 * @param sd
+	 *   the Subscriber to be removed.
+	 */
+	void remove_internal_subscriber();
+
+	/**
+	 * Return true if this topic has been published.
+	 *
+	 * This is used in the case of multi_pub/sub to check if it's valid to advertise
+	 * and publish to this node or if another node should be tried. */
+	bool is_published();
+
+	/**
+	 * Try to change the size of the queue. This can only be done as long as nobody published yet.
+	 * This is the case, for example when orb_subscribe was called before an orb_advertise.
+	 * The queue size can only be increased.
+	 * @param queue_size new size of the queue
+	 * @return PX4_OK if queue size successfully set
+	 */
+	int update_queue_size(unsigned int queue_size);
+
+	/**
+	 * Print statistics (nr of lost messages)
+	 * @param reset if true, reset statistics afterwards
+	 * @return true if printed something, false otherwise (if no lost messages)
+	 */
+	bool print_statistics(bool reset);
+
+	unsigned int queue_size() const { return _queue_size; }
+	int32_t subscriber_count() const { return _subscriber_count; }
+	uint32_t lost_message_count() const { return _lost_messages; }
+	unsigned int published_message_count() const { return _generation; }
+	const struct orb_metadata *meta() const { return _meta; }
+
+protected:
+	virtual pollevent_t poll_state(device::file_t *filp);
+	virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
+
+private:
+	struct UpdateIntervalData {
+		unsigned  interval; /**< if nonzero minimum interval between updates */
+		struct hrt_call update_call;  /**< deferred wakeup call if update_period is nonzero */
+#ifndef __PX4_NUTTX
+		uint64_t last_update; /**< time at which the last update was provided, used when update_interval is nonzero */
 #endif
+	};
+	struct SubscriberData {
+		~SubscriberData() { if (update_interval) { delete(update_interval); } }
+
+		unsigned  generation; /**< last generation the subscriber has seen */
+		int   flags; /**< lowest 8 bits: priority of publisher, 9. bit: update_reported bit */
+		UpdateIntervalData *update_interval; /**< if null, no update interval */
+
+		int priority() const { return flags & 0xff; }
+		void set_priority(uint8_t prio) { flags = (flags & ~0xff) | prio; }
+
+		bool update_reported() const { return flags & (1 << 8); }
+		void set_update_reported(bool update_reported_flag) { flags = (flags & ~(1 << 8)) | (((int)update_reported_flag) << 8); }
+	};
+
+	const struct orb_metadata *_meta; /**< object metadata information */
+	uint8_t     *_data;   /**< allocated object buffer */
+	hrt_abstime   _last_update; /**< time the object was last updated */
+	volatile unsigned   _generation;  /**< object generation count */
+	const int   _priority;  /**< priority of topic */
+	bool _published;  /**< has ever data been published */
+	unsigned int _queue_size; /**< maximum number of elements in the queue */
+
+	inline static SubscriberData    *filp_to_sd(device::file_t *filp);
+
+#ifdef __PX4_NUTTX
+	pid_t     _publisher; /**< if nonzero, current publisher. Only used inside the advertise call.
+					We allow one publisher to have an open file descriptor at the same time. */
+	bool    _IsRemoteSubscriberPresent;
+#else
+	unsigned long     _publisher; /**< if nonzero, current publisher. Only used inside the advertise call.
+					We allow one publisher to have an open file descriptor at the same time. */
+#endif
+	int32_t _subscriber_count;
+
+	//statistics
+	uint32_t _lost_messages = 0; ///< nr of lost messages for all subscribers. If two subscribers lose the same
+	///message, it is counted as two.
+
+	/**
+	 * Perform a deferred update for a rate-limited subscriber.
+	 */
+	void      update_deferred();
+
+	/**
+	 * Bridge from hrt_call to update_deferred
+	 *
+	 * void *arg    ORBDevNode pointer for which the deferred update is performed.
+	 */
+	static void   update_deferred_trampoline(void *arg);
+
+	/**
+	 * Check whether a topic appears updated to a subscriber.
+	 *
+	 * Lock must already be held when calling this.
+	 *
+	 * @param sd    The subscriber for whom to check.
+	 * @return    True if the topic should appear updated to the subscriber
+	 */
+	bool      appears_updated(SubscriberData *sd);
+
+
+	// disable copy and assignment operators
+	DeviceNode(const DeviceNode &);
+	DeviceNode &operator=(const DeviceNode &);
+};
+
+/**
+ * Master control device for ObjDev.
+ *
+ * Used primarily to create new objects via the ORBIOCCREATE
+ * ioctl.
+ */
+class uORB::DeviceMaster : public device::VDev
+{
+public:
+	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Public interface for getDeviceNodeLocked(). Takes care of synchronization.
+	 * @return node if exists, nullptr otherwise
+	 */
+	uORB::DeviceNode *getDeviceNode(const char *node_name);
+
+	/**
+	 * Print statistics for each existing topic.
+	 * @param reset if true, reset statistics afterwards
+	 */
+	void printStatistics(bool reset);
+
+	/**
+	 * Continuously print statistics, like the unix top command for processes.
+	 * Exited when the user presses the enter key.
+	 * @param topic_filter list of topic filters: if set, each string can be a substring for topics to match.
+	 *        Or it can be '-a', which means to print all topics instead of only currently publishing ones.
+	 * @param num_filters
+	 */
+	void showTop(char **topic_filter, int num_filters);
+
+private:
+	// Private constructor, uORB::Manager takes care of its creation
+	DeviceMaster(Flavor f);
+	virtual ~DeviceMaster();
+
+	struct DeviceNodeStatisticsData {
+		DeviceNode *node;
+		uint8_t instance;
+		uint32_t last_lost_msg_count;
+		unsigned int last_pub_msg_count;
+		DeviceNodeStatisticsData *next = nullptr;
+	};
+	void addNewDeviceNodes(DeviceNodeStatisticsData **first_node, int &num_topics, size_t &max_topic_name_length,
+			       char **topic_filter, int num_filters);
+
+	friend class uORB::Manager;
+
+	/**
+	 * Find a node give its name.
+	 * _lock must already be held when calling this.
+	 * @return node if exists, nullptr otherwise
+	 */
+	uORB::DeviceNode *getDeviceNodeLocked(const char *node_name);
+
+	const Flavor _flavor;
+
+#ifdef __PX4_NUTTX
+	ORBMap _node_map;
+#else
+	std::map<std::string, uORB::DeviceNode *> _node_map;
+#endif
+	hrt_abstime       _last_statistics_output;
+};
+
+

src/modules/uORB/uORBDevices_nuttx.hpp

@@ -1,338 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include "uORBCommon.hpp"
-
-
-#ifdef __PX4_NUTTX
-#include <string.h>
-#include <stdlib.h>
-#include "ORBMap.hpp"
-
-namespace device
-{
-//type mappings to NuttX
-typedef ::file file_t;
-typedef CDev VDev;
-}
-
-#else
-
-#include <string>
-#include <map>
-
-#endif /* __PX4_NUTTX */
-
-
-
-namespace uORB
-{
-class DeviceNode;
-class DeviceMaster;
-class Manager;
-}
-
-/**
- * Per-object device instance.
- */
-class uORB::DeviceNode : public device::VDev
-{
-public:
-	DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
-		   int priority, unsigned int queue_size = 1);
-	~DeviceNode();
-
-	/**
-	 * Method to create a subscriber instance and return the struct
-	 * pointing to the subscriber as a file pointer.
-	 */
-	virtual int open(device::file_t *filp);
-
-	/**
-	 * Method to close a subscriber for this topic.
-	 */
-	virtual int   close(device::file_t *filp);
-
-	/**
-	 * reads data from a subscriber node to the buffer provided.
-	 * @param filp
-	 *   The subscriber from which the data needs to be read from.
-	 * @param buffer
-	 *   The buffer into which the data is read into.
-	 * @param buflen
-	 *   the length of the buffer
-	 * @return
-	 *   ssize_t the number of bytes read.
-	 */
-	virtual ssize_t   read(device::file_t *filp, char *buffer, size_t buflen);
-
-	/**
-	 * writes the published data to the internal buffer to be read by
-	 * subscribers later.
-	 * @param filp
-	 *   the subscriber; this is not used.
-	 * @param buffer
-	 *   The buffer for the input data
-	 * @param buflen
-	 *   the length of the buffer.
-	 * @return ssize_t
-	 *   The number of bytes that are written
-	 */
-	virtual ssize_t   write(device::file_t *filp, const char *buffer, size_t buflen);
-
-	/**
-	 * IOCTL control for the subscriber.
-	 */
-	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
-
-	/**
-	 * Method to publish a data to this node.
-	 */
-	static ssize_t    publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
-
-	static int        unadvertise(orb_advert_t handle);
-
-	/**
-	 * processes a request for add subscription from remote
-	 * @param rateInHz
-	 *   Specifies the desired rate for the message.
-	 * @return
-	 *   0 = success
-	 *   otherwise failure.
-	 */
-	int16_t process_add_subscription(int32_t rateInHz);
-
-	/**
-	 * processes a request to remove a subscription from remote.
-	 */
-	int16_t process_remove_subscription();
-
-	/**
-	 * processed the received data message from remote.
-	 */
-	int16_t process_received_message(int32_t length, uint8_t *data);
-
-	/**
-	  * Add the subscriber to the node's list of subscriber.  If there is
-	  * remote proxy to which this subscription needs to be sent, it will
-	  * done via uORBCommunicator::IChannel interface.
-	  * @param sd
-	  *   the subscriber to be added.
-	  */
-	void add_internal_subscriber();
-
-	/**
-	 * Removes the subscriber from the list.  Also notifies the remote
-	 * if there a uORBCommunicator::IChannel instance.
-	 * @param sd
-	 *   the Subscriber to be removed.
-	 */
-	void remove_internal_subscriber();
-
-	/**
-	 * Return true if this topic has been published.
-	 *
-	 * This is used in the case of multi_pub/sub to check if it's valid to advertise
-	 * and publish to this node or if another node should be tried. */
-	bool is_published();
-
-	/**
-	 * Try to change the size of the queue. This can only be done as long as nobody published yet.
-	 * This is the case, for example when orb_subscribe was called before an orb_advertise.
-	 * The queue size can only be increased.
-	 * @param queue_size new size of the queue
-	 * @return PX4_OK if queue size successfully set
-	 */
-	int update_queue_size(unsigned int queue_size);
-
-	/**
-	 * Print statistics (nr of lost messages)
-	 * @param reset if true, reset statistics afterwards
-	 * @return true if printed something, false otherwise (if no lost messages)
-	 */
-	bool print_statistics(bool reset);
-
-	unsigned int queue_size() const { return _queue_size; }
-	int32_t subscriber_count() const { return _subscriber_count; }
-	uint32_t lost_message_count() const { return _lost_messages; }
-	unsigned int published_message_count() const { return _generation; }
-	const struct orb_metadata *meta() const { return _meta; }
-
-protected:
-	virtual pollevent_t poll_state(device::file_t *filp);
-	virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
-
-private:
-	struct UpdateIntervalData {
-		unsigned  interval; /**< if nonzero minimum interval between updates */
-		struct hrt_call update_call;  /**< deferred wakeup call if update_period is nonzero */
-#ifndef __PX4_NUTTX
-		uint64_t last_update; /**< time at which the last update was provided, used when update_interval is nonzero */
-#endif
-	};
-	struct SubscriberData {
-		~SubscriberData() { if (update_interval) { delete(update_interval); } }
-
-		unsigned  generation; /**< last generation the subscriber has seen */
-		int   flags; /**< lowest 8 bits: priority of publisher, 9. bit: update_reported bit */
-		UpdateIntervalData *update_interval; /**< if null, no update interval */
-
-		int priority() const { return flags & 0xff; }
-		void set_priority(uint8_t prio) { flags = (flags & ~0xff) | prio; }
-
-		bool update_reported() const { return flags & (1 << 8); }
-		void set_update_reported(bool update_reported_flag) { flags = (flags & ~(1 << 8)) | (((int)update_reported_flag) << 8); }
-	};
-
-	const struct orb_metadata *_meta; /**< object metadata information */
-	uint8_t     *_data;   /**< allocated object buffer */
-	hrt_abstime   _last_update; /**< time the object was last updated */
-	volatile unsigned   _generation;  /**< object generation count */
-	const int   _priority;  /**< priority of topic */
-	bool _published;  /**< has ever data been published */
-	unsigned int _queue_size; /**< maximum number of elements in the queue */
-
-	inline static SubscriberData    *filp_to_sd(device::file_t *filp);
-
-#ifdef __PX4_NUTTX
-	pid_t     _publisher; /**< if nonzero, current publisher. Only used inside the advertise call.
-					We allow one publisher to have an open file descriptor at the same time. */
-	bool    _IsRemoteSubscriberPresent;
-#else
-	unsigned long     _publisher; /**< if nonzero, current publisher. Only used inside the advertise call.
-					We allow one publisher to have an open file descriptor at the same time. */
-#endif
-	int32_t _subscriber_count;
-
-	//statistics
-	uint32_t _lost_messages = 0; ///< nr of lost messages for all subscribers. If two subscribers lose the same
-	///message, it is counted as two.
-
-	/**
-	 * Perform a deferred update for a rate-limited subscriber.
-	 */
-	void      update_deferred();
-
-	/**
-	 * Bridge from hrt_call to update_deferred
-	 *
-	 * void *arg    ORBDevNode pointer for which the deferred update is performed.
-	 */
-	static void   update_deferred_trampoline(void *arg);
-
-	/**
-	 * Check whether a topic appears updated to a subscriber.
-	 *
-	 * Lock must already be held when calling this.
-	 *
-	 * @param sd    The subscriber for whom to check.
-	 * @return    True if the topic should appear updated to the subscriber
-	 */
-	bool      appears_updated(SubscriberData *sd);
-
-
-	// disable copy and assignment operators
-	DeviceNode(const DeviceNode &);
-	DeviceNode &operator=(const DeviceNode &);
-};
-
-/**
- * Master control device for ObjDev.
- *
- * Used primarily to create new objects via the ORBIOCCREATE
- * ioctl.
- */
-class uORB::DeviceMaster : public device::VDev
-{
-public:
-	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
-
-	/**
-	 * Public interface for getDeviceNodeLocked(). Takes care of synchronization.
-	 * @return node if exists, nullptr otherwise
-	 */
-	uORB::DeviceNode *getDeviceNode(const char *node_name);
-
-	/**
-	 * Print statistics for each existing topic.
-	 * @param reset if true, reset statistics afterwards
-	 */
-	void printStatistics(bool reset);
-
-	/**
-	 * Continuously print statistics, like the unix top command for processes.
-	 * Exited when the user presses the enter key.
-	 * @param topic_filter list of topic filters: if set, each string can be a substring for topics to match.
-	 *        Or it can be '-a', which means to print all topics instead of only currently publishing ones.
-	 * @param num_filters
-	 */
-	void showTop(char **topic_filter, int num_filters);
-
-private:
-	// Private constructor, uORB::Manager takes care of its creation
-	DeviceMaster(Flavor f);
-	virtual ~DeviceMaster();
-
-	struct DeviceNodeStatisticsData {
-		DeviceNode *node;
-		uint8_t instance;
-		uint32_t last_lost_msg_count;
-		unsigned int last_pub_msg_count;
-		DeviceNodeStatisticsData *next = nullptr;
-	};
-	void addNewDeviceNodes(DeviceNodeStatisticsData **first_node, int &num_topics, size_t &max_topic_name_length,
-			       char **topic_filter, int num_filters);
-
-	friend class uORB::Manager;
-
-	/**
-	 * Find a node give its name.
-	 * _lock must already be held when calling this.
-	 * @return node if exists, nullptr otherwise
-	 */
-	uORB::DeviceNode *getDeviceNodeLocked(const char *node_name);
-
-	const Flavor _flavor;
-
-#ifdef __PX4_NUTTX
-	ORBMap _node_map;
-#else
-	std::map<std::string, uORB::DeviceNode *> _node_map;
-#endif
-	hrt_abstime       _last_statistics_output;
-};
-
-

src/modules/uORB/uORBDevices_posix.hpp

@@ -1,338 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <stdint.h>
-#include "uORBCommon.hpp"
-
-
-#ifdef __PX4_NUTTX
-#include <string.h>
-#include <stdlib.h>
-#include "ORBMap.hpp"
-
-namespace device
-{
-//type mappings to NuttX
-typedef ::file file_t;
-typedef CDev VDev;
-}
-
-#else
-
-#include <string>
-#include <map>
-
-#endif /* __PX4_NUTTX */
-
-
-
-namespace uORB
-{
-class DeviceNode;
-class DeviceMaster;
-class Manager;
-}
-
-/**
- * Per-object device instance.
- */
-class uORB::DeviceNode : public device::VDev
-{
-public:
-	DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
-		   int priority, unsigned int queue_size = 1);
-	~DeviceNode();
-
-	/**
-	 * Method to create a subscriber instance and return the struct
-	 * pointing to the subscriber as a file pointer.
-	 */
-	virtual int open(device::file_t *filp);
-
-	/**
-	 * Method to close a subscriber for this topic.
-	 */
-	virtual int   close(device::file_t *filp);
-
-	/**
-	 * reads data from a subscriber node to the buffer provided.
-	 * @param filp
-	 *   The subscriber from which the data needs to be read from.
-	 * @param buffer
-	 *   The buffer into which the data is read into.
-	 * @param buflen
-	 *   the length of the buffer
-	 * @return
-	 *   ssize_t the number of bytes read.
-	 */
-	virtual ssize_t   read(device::file_t *filp, char *buffer, size_t buflen);
-
-	/**
-	 * writes the published data to the internal buffer to be read by
-	 * subscribers later.
-	 * @param filp
-	 *   the subscriber; this is not used.
-	 * @param buffer
-	 *   The buffer for the input data
-	 * @param buflen
-	 *   the length of the buffer.
-	 * @return ssize_t
-	 *   The number of bytes that are written
-	 */
-	virtual ssize_t   write(device::file_t *filp, const char *buffer, size_t buflen);
-
-	/**
-	 * IOCTL control for the subscriber.
-	 */
-	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
-
-	/**
-	 * Method to publish a data to this node.
-	 */
-	static ssize_t    publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
-
-	static int        unadvertise(orb_advert_t handle);
-
-	/**
-	 * processes a request for add subscription from remote
-	 * @param rateInHz
-	 *   Specifies the desired rate for the message.
-	 * @return
-	 *   0 = success
-	 *   otherwise failure.
-	 */
-	int16_t process_add_subscription(int32_t rateInHz);
-
-	/**
-	 * processes a request to remove a subscription from remote.
-	 */
-	int16_t process_remove_subscription();
-
-	/**
-	 * processed the received data message from remote.
-	 */
-	int16_t process_received_message(int32_t length, uint8_t *data);
-
-	/**
-	  * Add the subscriber to the node's list of subscriber.  If there is
-	  * remote proxy to which this subscription needs to be sent, it will
-	  * done via uORBCommunicator::IChannel interface.
-	  * @param sd
-	  *   the subscriber to be added.
-	  */
-	void add_internal_subscriber();
-
-	/**
-	 * Removes the subscriber from the list.  Also notifies the remote
-	 * if there a uORBCommunicator::IChannel instance.
-	 * @param sd
-	 *   the Subscriber to be removed.
-	 */
-	void remove_internal_subscriber();
-
-	/**
-	 * Return true if this topic has been published.
-	 *
-	 * This is used in the case of multi_pub/sub to check if it's valid to advertise
-	 * and publish to this node or if another node should be tried. */
-	bool is_published();
-
-	/**
-	 * Try to change the size of the queue. This can only be done as long as nobody published yet.
-	 * This is the case, for example when orb_subscribe was called before an orb_advertise.
-	 * The queue size can only be increased.
-	 * @param queue_size new size of the queue
-	 * @return PX4_OK if queue size successfully set
-	 */
-	int update_queue_size(unsigned int queue_size);
-
-	/**
-	 * Print statistics (nr of lost messages)
-	 * @param reset if true, reset statistics afterwards
-	 * @return true if printed something, false otherwise (if no lost messages)
-	 */
-	bool print_statistics(bool reset);
-
-	unsigned int queue_size() const { return _queue_size; }
-	int32_t subscriber_count() const { return _subscriber_count; }
-	uint32_t lost_message_count() const { return _lost_messages; }
-	unsigned int published_message_count() const { return _generation; }
-	const struct orb_metadata *meta() const { return _meta; }
-
-protected:
-	virtual pollevent_t poll_state(device::file_t *filp);
-	virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
-
-private:
-	struct UpdateIntervalData {
-		unsigned  interval; /**< if nonzero minimum interval between updates */
-		struct hrt_call update_call;  /**< deferred wakeup call if update_period is nonzero */
-#ifndef __PX4_NUTTX
-		uint64_t last_update; /**< time at which the last update was provided, used when update_interval is nonzero */
-#endif
-	};
-	struct SubscriberData {
-		~SubscriberData() { if (update_interval) { delete(update_interval); } }
-
-		unsigned  generation; /**< last generation the subscriber has seen */
-		int   flags; /**< lowest 8 bits: priority of publisher, 9. bit: update_reported bit */
-		UpdateIntervalData *update_interval; /**< if null, no update interval */
-
-		int priority() const { return flags & 0xff; }
-		void set_priority(uint8_t prio) { flags = (flags & ~0xff) | prio; }
-
-		bool update_reported() const { return flags & (1 << 8); }
-		void set_update_reported(bool update_reported_flag) { flags = (flags & ~(1 << 8)) | (((int)update_reported_flag) << 8); }
-	};
-
-	const struct orb_metadata *_meta; /**< object metadata information */
-	uint8_t     *_data;   /**< allocated object buffer */
-	hrt_abstime   _last_update; /**< time the object was last updated */
-	volatile unsigned   _generation;  /**< object generation count */
-	const int   _priority;  /**< priority of topic */
-	bool _published;  /**< has ever data been published */
-	unsigned int _queue_size; /**< maximum number of elements in the queue */
-
-	inline static SubscriberData    *filp_to_sd(device::file_t *filp);
-
-#ifdef __PX4_NUTTX
-	pid_t     _publisher; /**< if nonzero, current publisher. Only used inside the advertise call.
-					We allow one publisher to have an open file descriptor at the same time. */
-	bool    _IsRemoteSubscriberPresent;
-#else
-	unsigned long     _publisher; /**< if nonzero, current publisher. Only used inside the advertise call.
-					We allow one publisher to have an open file descriptor at the same time. */
-#endif
-	int32_t _subscriber_count;
-
-	//statistics
-	uint32_t _lost_messages = 0; ///< nr of lost messages for all subscribers. If two subscribers lose the same
-	///message, it is counted as two.
-
-	/**
-	 * Perform a deferred update for a rate-limited subscriber.
-	 */
-	void      update_deferred();
-
-	/**
-	 * Bridge from hrt_call to update_deferred
-	 *
-	 * void *arg    ORBDevNode pointer for which the deferred update is performed.
-	 */
-	static void   update_deferred_trampoline(void *arg);
-
-	/**
-	 * Check whether a topic appears updated to a subscriber.
-	 *
-	 * Lock must already be held when calling this.
-	 *
-	 * @param sd    The subscriber for whom to check.
-	 * @return    True if the topic should appear updated to the subscriber
-	 */
-	bool      appears_updated(SubscriberData *sd);
-
-
-	// disable copy and assignment operators
-	DeviceNode(const DeviceNode &);
-	DeviceNode &operator=(const DeviceNode &);
-};
-
-/**
- * Master control device for ObjDev.
- *
- * Used primarily to create new objects via the ORBIOCCREATE
- * ioctl.
- */
-class uORB::DeviceMaster : public device::VDev
-{
-public:
-	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
-
-	/**
-	 * Public interface for getDeviceNodeLocked(). Takes care of synchronization.
-	 * @return node if exists, nullptr otherwise
-	 */
-	uORB::DeviceNode *getDeviceNode(const char *node_name);
-
-	/**
-	 * Print statistics for each existing topic.
-	 * @param reset if true, reset statistics afterwards
-	 */
-	void printStatistics(bool reset);
-
-	/**
-	 * Continuously print statistics, like the unix top command for processes.
-	 * Exited when the user presses the enter key.
-	 * @param topic_filter list of topic filters: if set, each string can be a substring for topics to match.
-	 *        Or it can be '-a', which means to print all topics instead of only currently publishing ones.
-	 * @param num_filters
-	 */
-	void showTop(char **topic_filter, int num_filters);
-
-private:
-	// Private constructor, uORB::Manager takes care of its creation
-	DeviceMaster(Flavor f);
-	virtual ~DeviceMaster();
-
-	struct DeviceNodeStatisticsData {
-		DeviceNode *node;
-		uint8_t instance;
-		uint32_t last_lost_msg_count;
-		unsigned int last_pub_msg_count;
-		DeviceNodeStatisticsData *next = nullptr;
-	};
-	void addNewDeviceNodes(DeviceNodeStatisticsData **first_node, int &num_topics, size_t &max_topic_name_length,
-			       char **topic_filter, int num_filters);
-
-	friend class uORB::Manager;
-
-	/**
-	 * Find a node give its name.
-	 * _lock must already be held when calling this.
-	 * @return node if exists, nullptr otherwise
-	 */
-	uORB::DeviceNode *getDeviceNodeLocked(const char *node_name);
-
-	const Flavor _flavor;
-
-#ifdef __PX4_NUTTX
-	ORBMap _node_map;
-#else
-	std::map<std::string, uORB::DeviceNode *> _node_map;
-#endif
-	hrt_abstime       _last_statistics_output;
-};
-
-