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orb_exists support for muorb

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Also added builtin command wait_for_topic

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2017-01-09 15:41:54 -08:00
committed by Lorenz Meier
parent dc787830b5
commit 62a3e07423
15 changed files with 462 additions and 67 deletions
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src/modules/muorb/adsp/px4muorb.cpp
+29
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@@ -158,6 +158,35 @@ int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value,
release_shmem_lock(__FILE__, __LINE__);
return 0;
int px4muorb_topic_advertised(const char *topic_name)
{
int rc = 0;
PX4_INFO("TEST px4muorb_topic_advertised of [%s] on remote side...", topic_name);
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
if (rxHandler != nullptr) {
rc = rxHandler->process_remote_topic(topic_name, 1);
} else {
rc = -1;
}
return rc;
}
int px4muorb_topic_unadvertised(const char *topic_name)
{
int rc = 0;
PX4_INFO("TEST px4muorb_topic_unadvertised of [%s] on remote side...", topic_name);
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
if (rxHandler != nullptr) {
rc = rxHandler->process_remote_topic(topic_name, 0);
} else {
rc = -1;
}
return rc;
}
int px4muorb_add_subscriber(const char *name)