QuRT: Added muorb files

muorb is used to proxy messages between the Krait and DSP. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2026-10-23 15:13:35 +08:00 · 2015-07-01 11:12:50 -07:00
parent 851a020461
commit 60ec1c897a
10 changed files with 1301 additions and 0 deletions
@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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.
+ *
+ ****************************************************************************/
+
+#include <string.h>
+#include "uORBManager.hpp"
+#include "uORBKraitFastRpcChannel.hpp"
+
+extern "C" { __EXPORT int muorb_main(int argc, char *argv[]); }
+
+static void usage()
+{
+	warnx("Usage: muorb 'start', 'stop', 'status'");
+}
+
+
+int
+muorb_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage();
+		return -EINVAL;
+	}
+
+	/*
+	 * Start/load the driver.
+	 *
+	 * XXX it would be nice to have a wrapper for this...
+	 */
+	if (!strcmp(argv[1], "start")) {
+		// register the fast rpc channel with UORB.
+		uORB::Manager::get_instance()->set_uorb_communicator(uORB::KraitFastRpcChannel::GetInstance());
+
+		// start the KaitFastRPC channel thread.
+		uORB::KraitFastRpcChannel::GetInstance()->Start();
+		return OK;
+
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+
+		uORB::KraitFastRpcChannel::GetInstance()->Stop();
+		return OK;
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "status")) {
+		return OK;
+	}
+
+	usage();
+	return -EINVAL;
+}