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purge broken qurt support and atlflight boards

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Daniel Agar
2021-07-16 08:53:36 -04:00
parent 4a0fa08953
commit 65745a3676
116 changed files with 58 additions and 11410 deletions
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src/modules/muorb/adsp/CMakeLists.txt
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############################################################################
#
# Copyright (c) 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.
#
############################################################################
px4_add_library(modules__muorb__adsp
px4muorb.cpp
uORBFastRpcChannel.cpp
)
target_include_directories(modules__muorb__adsp PRIVATE ${PX4_SOURCE_DIR}/platforms/common/uORB)
src/modules/muorb/adsp/px4muorb.cpp
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/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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 "px4muorb.hpp"
#include "uORBFastRpcChannel.hpp"
#include "uORBManager.hpp"
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/posix.h>
#include <dspal_platform.h>
#include "uORB.h"
#include <parameters/param.h>
#include <px4_platform_common/shmem.h>
#include <px4_platform_common/log.h>
__BEGIN_DECLS
extern int dspal_main(int argc, char *argv[]);
__END_DECLS
int px4muorb_orb_initialize()
{
HAP_power_request(100, 100, 1000);
shmem_info_p = NULL;
// The uORB Manager needs to be initialized first up, otherwise the instance is nullptr.
uORB::Manager::initialize();
// Register the fastrpc muorb with uORBManager.
uORB::Manager::get_instance()->set_uorb_communicator(
uORB::FastRpcChannel::GetInstance());
// Now continue with the usual dspal startup.
const char *argv[] = { "dspal", "start" };
int argc = 2;
int rc;
rc = dspal_main(argc, (char **) argv);
return rc;
}
int px4muorb_set_absolute_time_offset(int32_t time_diff_us)
{
return hrt_set_absolute_time_offset(time_diff_us);
}
int px4muorb_get_absolute_time(uint64_t *time_us)
{
*time_us = hrt_absolute_time();
return 0;
}
/*update value and param's change bit in shared memory*/
int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value,
int data_len_in_bytes)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *) value;
if (!shmem_info_p) {
init_shared_memory();
}
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
return -1;
}
shmem_info_p->params_val[param] = *param_value;
byte_changed = param / 8;
bit_changed = 1 << param % 8;
shmem_info_p->krait_changed_index[byte_changed] |= bit_changed;
release_shmem_lock(__FILE__, __LINE__);
return 0;
}
int px4muorb_param_update_index_from_shmem(unsigned char *data, int data_len_in_bytes)
{
if (!shmem_info_p) {
return -1;
}
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
return -1;
}
for (int i = 0; i < data_len_in_bytes; i++) {
data[i] = shmem_info_p->adsp_changed_index[i];
}
release_shmem_lock(__FILE__, __LINE__);
return 0;
}
int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value,
int data_len_in_bytes)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *) value;
if (!shmem_info_p) {
return -1;
}
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
PX4_INFO("Could not get shmem lock\n");
return -1;
}
*param_value = shmem_info_p->params_val[param];
/*also clear the index since we are holding the lock*/
byte_changed = param / 8;
bit_changed = 1 << param % 8;
shmem_info_p->adsp_changed_index[byte_changed] &= ~bit_changed;
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)
{
int rc = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
channel->AddRemoteSubscriber(name);
uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
if (rxHandler != nullptr) {
rc = rxHandler->process_add_subscription(name, 0);
if (rc != OK) {
channel->RemoveRemoteSubscriber(name);
}
} else {
rc = -1;
}
return rc;
}
int px4muorb_remove_subscriber(const char *name)
{
int rc = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
channel->RemoveRemoteSubscriber(name);
uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
if (rxHandler != nullptr) {
rc = rxHandler->process_remove_subscription(name);
} else {
rc = -1;
}
return rc;
}
int px4muorb_send_topic_data(const char *name, const uint8_t *data,
int data_len_in_bytes)
{
int rc = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
if (rxHandler != nullptr) {
rc = rxHandler->process_received_message(name, data_len_in_bytes,
(uint8_t *) data);
} else {
rc = -1;
}
return rc;
}
int px4muorb_is_subscriber_present(const char *topic_name, int *status)
{
int rc = 0;
int32_t local_status = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
rc = channel->is_subscriber_present(topic_name, &local_status);
if (rc == 0) {
*status = (int) local_status;
}
return rc;
}
int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
uint8_t *data, int data_len_in_bytes, int *bytes_returned)
{
int rc = 0;
int32_t local_msg_type = 0;
int32_t local_bytes_returned = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_data(&local_msg_type, topic_name, topic_name_len, data,
data_len_in_bytes, &local_bytes_returned);
*msg_type = (int) local_msg_type;
*bytes_returned = (int) local_bytes_returned;
return rc;
}
int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
{
int rc = 0;
int32_t local_bytes_returned = 0;
int32_t local_topic_count = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_bulk_data(bulk_transfer_buffer, max_size_in_bytes,
&local_bytes_returned, &local_topic_count);
*returned_length_in_bytes = (int) local_bytes_returned;
*topic_count = (int) local_topic_count;
return rc;
}
int px4muorb_unblock_recieve_msg(void)
{
int rc = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
rc = channel->unblock_get_data_method();
return rc;
}
src/modules/muorb/adsp/px4muorb.hpp
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/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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>
extern "C" {
int px4muorb_orb_initialize() __EXPORT;
int px4muorb_set_absolute_time_offset(int32_t time_diff_us) __EXPORT;
int px4muorb_get_absolute_time(uint64_t *time_us) __EXPORT;
int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value, int data_len_in_bytes) __EXPORT;
int px4muorb_param_update_index_from_shmem(unsigned char *data, int data_len_in_bytes) __EXPORT;
int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value, int data_len_in_bytes) __EXPORT;
int px4muorb_topic_advertised(const char *name) __EXPORT;
int px4muorb_topic_unadvertised(const char *name) __EXPORT;
int px4muorb_add_subscriber(const char *name) __EXPORT;
int px4muorb_remove_subscriber(const char *name) __EXPORT;
int px4muorb_send_topic_data(const char *name, const uint8_t *data, int data_len_in_bytes) __EXPORT;
int px4muorb_is_subscriber_present(const char *topic_name, int *status) __EXPORT;
int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len, uint8_t *data, int data_len_in_bytes,
int *bytes_returned) __EXPORT;
int px4muorb_receive_bulk_data(uint8_t *_BulkTransferBuffer, int max_size_in_bytes,
int *length_in_bytes, int *topic_count) __EXPORT;
int px4muorb_unblock_recieve_msg(void) __EXPORT;
}
src/modules/muorb/adsp/uORBFastRpcChannel.cpp
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/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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 "uORBFastRpcChannel.hpp"
#include <px4_platform_common/log.h>
#include <algorithm>
#include <string.h>
#include <drivers/drv_hrt.h>
// static initialization.
uORB::FastRpcChannel uORB::FastRpcChannel::_Instance;
static unsigned long _dropped_pkts;
static unsigned long _get_min = 0xFFFFFF;
static unsigned long _get_max = 0;
static unsigned long _min_q = 200;
static unsigned long _max_q = 0;
static unsigned long _avg_q = 0;
static unsigned long _count = 0;
static unsigned long _get_bulk_min = 0xFFFFFF;
static unsigned long _get_bulk_max = 0;
static unsigned long _bulk_topic_count_min = 0xFFFFFF;
static unsigned long _bulk_topic_count_max = 0;
//==============================================================================
//==============================================================================
uORB::FastRpcChannel::FastRpcChannel()
: _RxHandler(0)
, _DataQInIndex(0)
, _DataQOutIndex(0)
, _ControlQInIndex(0)
, _ControlQOutIndex(0)
{
for (int32_t i = 0; i < _MAX_MSG_QUEUE_SIZE; ++ i) {
_DataMsgQueue[i]._MaxBufferSize = 0;
_DataMsgQueue[i]._Length = 0;
_DataMsgQueue[i]._Buffer = 0;
}
_RemoteSubscribers.clear();
}
//==============================================================================
//==============================================================================
int16_t uORB::FastRpcChannel::topic_advertised(const char *messageName)
{
return control_msg_queue_add(_CONTROL_MSG_TYPE_ADVERTISE, messageName);
}
//==============================================================================
//==============================================================================
int16_t uORB::FastRpcChannel::topic_unadvertised(const char *messageName)
{
return control_msg_queue_add(_CONTROL_MSG_TYPE_UNADVERTISE, messageName);
}
//==============================================================================
//==============================================================================
int16_t uORB::FastRpcChannel::control_msg_queue_add(int32_t msgtype, const char *messageName)
{
int16_t rc = 0;
hrt_abstime t1, t2;
static hrt_abstime check_time = 0;
t1 = hrt_absolute_time();
_QueueMutex.lock();
bool overwriteData = false;
if (IsControlQFull()) {
// queue is full. Overwrite the oldest data.
_ControlQOutIndex++;
if (_ControlQOutIndex == _MAX_MSG_QUEUE_SIZE) {
_ControlQOutIndex = 0;
}
overwriteData = true;
_dropped_pkts++;
}
_ControlMsgQueue[ _ControlQInIndex ]._Type = msgtype;
_ControlMsgQueue[ _ControlQInIndex ]._MsgName = messageName;
_ControlQInIndex++;
if (_ControlQInIndex == _MAX_MSG_QUEUE_SIZE) {
_ControlQInIndex = 0;
}
// the assumption here is that each caller reads only one data from either control or data queue.
if (ControlQSize() == 1 && DataQSize() == 0) { // post it only of the queue moves from empty to available.
_DataAvailableSemaphore.post();
}
if ((unsigned long)ControlQSize() < _min_q) { _min_q = (unsigned long)ControlQSize(); }
if ((unsigned long)ControlQSize() > _max_q) { _max_q = (unsigned long)ControlQSize(); }
_count++;
_avg_q = ((double)((_avg_q * (_count - 1)) + (unsigned long)(ControlQSize()))) / (double)(_count);
_QueueMutex.unlock();
t2 = hrt_absolute_time();
if ((unsigned long)(t2 - check_time) > 10000000) {
//PX4_DEBUG("MsgName: %20s, t1: %lu, t2: %lu, dt: %lu",messageName, (unsigned long) t1, (unsigned long) t2, (unsigned long) (t2-t1));
//PX4_DEBUG("Q. Stats: min: %lu, max : %lu, avg: %lu count: %lu ", _min_q, _max_q, (unsigned long)(_avg_q * 1000.0), _count);
_min_q = _MAX_MSG_QUEUE_SIZE * 2;
_max_q = 0;
_avg_q = 0;
_count = 0;
check_time = t2;
}
return rc;
}
//==============================================================================
//==============================================================================
int16_t uORB::FastRpcChannel::add_subscription(const char *messageName, int32_t msgRateInHz)
{
int16_t rc = 0;
_Subscribers.push_back(messageName);
PX4_DEBUG("Adding message[%s] to subscriber queue...", messageName);
return rc;
}
//==============================================================================
//==============================================================================
int16_t uORB::FastRpcChannel::remove_subscription(const char *messageName)
{
int16_t rc = 0;
_Subscribers.remove(messageName);
return rc;
}
int16_t uORB::FastRpcChannel::is_subscriber_present(const char *messageName, int32_t *status)
{
int16_t rc = 0;
if (std::find(_Subscribers.begin(), _Subscribers.end(), messageName) != _Subscribers.end()) {
*status = 1;
//PX4_DEBUG("******* Found subscriber for message[%s]....", messageName);
} else {
*status = 0;
//PX4_WARN("@@@@@ Subscriber not found for[%s]...numSubscribers[%d]", messageName, _Subscribers.size());
int i = 0;
for (std::list<std::string>::iterator it = _Subscribers.begin(); it != _Subscribers.end(); ++it) {
if (*it == messageName) {
PX4_DEBUG("##### Found the message[%s] in the subscriber list-index[%d]", messageName, i);
}
++i;
}
}
return rc;
}
int16_t uORB::FastRpcChannel::unblock_get_data_method()
{
PX4_DEBUG("[unblock_get_data_method] calling post method for _DataAvailableSemaphore()");
_DataAvailableSemaphore.post();
return 0;
}
//==============================================================================
//==============================================================================
int16_t uORB::FastRpcChannel::register_handler(uORBCommunicator::IChannelRxHandler *handler)
{
_RxHandler = handler;
return 0;
}
//==============================================================================
//==============================================================================
int16_t uORB::FastRpcChannel::send_message(const char *messageName, int32_t length, uint8_t *data)
{
int16_t rc = 0;
hrt_abstime t1, t2;
static hrt_abstime check_time = 0;
if (_RemoteSubscribers.find(messageName) == _RemoteSubscribers.end()) {
//there is no-remote subscriber. So do not queue the message.
return rc;
}
t1 = hrt_absolute_time();
_QueueMutex.lock();
bool overwriteData = false;
if (IsDataQFull()) {
// queue is full. Overwrite the oldest data.
//PX4_WARN("[send_message] Queue Full Overwrite the oldest data. in[%ld] out[%ld] max[%ld]",
// _DataQInIndex, _DataQOutIndex, _MAX_MSG_QUEUE_SIZE);
_DataQOutIndex++;
if (_DataQOutIndex == _MAX_MSG_QUEUE_SIZE) {
_DataQOutIndex = 0;
}
overwriteData = true;
_dropped_pkts++;
}
// now check to see if the data queue's buffer size if large enough to memcpy the data.
// if not, delete the old buffer and re-create a new buffer of larger size.
check_and_expand_data_buffer(_DataQInIndex, length);
// now memcpy the data to the buffer.
memcpy(_DataMsgQueue[ _DataQInIndex ]._Buffer, data, length);
_DataMsgQueue[ _DataQInIndex ]._Length = length;
_DataMsgQueue[ _DataQInIndex ]._MsgName = messageName;
_DataQInIndex++;
if (_DataQInIndex == _MAX_MSG_QUEUE_SIZE) {
_DataQInIndex = 0;
}
// the assumption here is that each caller reads only one data from either control or data queue.
//if (!overwriteData) {
if (DataQSize() == 1 && ControlQSize() == 0) { // post it only of the queue moves from empty to available.
_DataAvailableSemaphore.post();
}
if ((unsigned long)DataQSize() < _min_q) { _min_q = (unsigned long)DataQSize(); }
if ((unsigned long)DataQSize() > _max_q) { _max_q = (unsigned long)DataQSize(); }
_count++;
_avg_q = ((double)((_avg_q * (_count - 1)) + (unsigned long)(DataQSize()))) / (double)(_count);
_QueueMutex.unlock();
t2 = hrt_absolute_time();
if ((unsigned long)(t2 - check_time) > 10000000) {
//PX4_DEBUG("MsgName: %20s, t1: %lu, t2: %lu, dt: %lu",messageName, (unsigned long) t1, (unsigned long) t2, (unsigned long) (t2-t1));
//PX4_DEBUG("Q. Stats: min: %lu, max : %lu, avg: %lu count: %lu ", _min_q, _max_q, (unsigned long)(_avg_q * 1000.0), _count);
_min_q = _MAX_MSG_QUEUE_SIZE * 2;
_max_q = 0;
_avg_q = 0;
_count = 0;
check_time = t2;
}
return rc;
}
//==============================================================================
//==============================================================================
void uORB::FastRpcChannel::check_and_expand_data_buffer(int32_t index, int32_t length)
{
if (_DataMsgQueue[ index ]._MaxBufferSize < length) {
// create a new buffer of size length and delete old buffer.
if (_DataMsgQueue[ index ]._Buffer != 0) {
delete _DataMsgQueue[ index ]._Buffer;
}
_DataMsgQueue[ index ]._Buffer = new uint8_t[ length ];
if (_DataMsgQueue[ index ]._Buffer == 0) {
PX4_ERR("Error[check_and_expand_data_buffer] Failed to allocate data queue buffer of size[%ld]", length);
_DataMsgQueue[ index ]._MaxBufferSize = 0;
return;
}
_DataMsgQueue[ index ]._MaxBufferSize = length;
}
}
int32_t uORB::FastRpcChannel::DataQSize()
{
int32_t rc;
rc = (_DataQInIndex - _DataQOutIndex) + _MAX_MSG_QUEUE_SIZE;
rc %= _MAX_MSG_QUEUE_SIZE;
return rc;
}
int32_t uORB::FastRpcChannel::ControlQSize()
{
int32_t rc;
rc = (_ControlQInIndex - _ControlQOutIndex) + _MAX_MSG_QUEUE_SIZE;
rc %= _MAX_MSG_QUEUE_SIZE;
return rc;
}
bool uORB::FastRpcChannel::IsControlQFull()
{
return (ControlQSize() == (_MAX_MSG_QUEUE_SIZE - 1));
}
bool uORB::FastRpcChannel::IsControlQEmpty()
{
return (ControlQSize() == 0);
}
bool uORB::FastRpcChannel::IsDataQFull()
{
return (DataQSize() == (_MAX_MSG_QUEUE_SIZE - 1));
}
bool uORB::FastRpcChannel::IsDataQEmpty()
{
return (DataQSize() == 0);
}
int16_t uORB::FastRpcChannel::get_data
(
int32_t *msg_type,
char *topic_name,
int32_t topic_name_len,
uint8_t *data,
int32_t data_len_in_bytes,
int32_t *bytes_returned
)
{
int16_t rc = 0;
PX4_DEBUG("Get data should not be called...");
return -1;
// wait for data availability
static hrt_abstime check_time = 0;
hrt_abstime t1 = hrt_absolute_time();
_DataAvailableSemaphore.wait();
// hrt_abstime t2 = hrt_absolute_time();
_QueueMutex.lock();
if (DataQSize() != 0 || ControlQSize() != 0) {
if (ControlQSize() > 0) {
// read the first element of the Control Queue.
*msg_type = _ControlMsgQueue[ _ControlQOutIndex ]._Type;
if ((int)_ControlMsgQueue[ _ControlQOutIndex ]._MsgName.size() < (int)topic_name_len) {
memcpy
(
topic_name,
_ControlMsgQueue[ _ControlQOutIndex ]._MsgName.c_str(),
_ControlMsgQueue[ _ControlQOutIndex ]._MsgName.size()
);
topic_name[_ControlMsgQueue[ _ControlQOutIndex ]._MsgName.size()] = 0;
*bytes_returned = 0;
_ControlQOutIndex++;
if (_ControlQOutIndex == _MAX_MSG_QUEUE_SIZE) {
_ControlQOutIndex = 0;
}
} else {
PX4_ERR("Error[get_data-CONTROL]: max topic_name_len[%ld] < controlMsgLen[%d]",
topic_name_len,
_ControlMsgQueue[ _ControlQOutIndex ]._MsgName.size()
);
rc = -1;
}
} else {
// read the first element of the Control Queue.
*msg_type = _DATA_MSG_TYPE;
if (((int)_DataMsgQueue[ _DataQOutIndex ]._MsgName.size() < topic_name_len) ||
(_DataMsgQueue[ _DataQOutIndex ]._Length < data_len_in_bytes)) {
memcpy
(
topic_name,
_DataMsgQueue[ _DataQOutIndex ]._MsgName.c_str(),
_DataMsgQueue[ _DataQOutIndex ]._MsgName.size()
);
topic_name[_DataMsgQueue[ _DataQOutIndex ]._MsgName.size()] = 0;
*bytes_returned = _DataMsgQueue[ _DataQOutIndex ]._Length;
memcpy(data, _DataMsgQueue[ _DataQOutIndex ]._Buffer, _DataMsgQueue[ _DataQOutIndex ]._Length);
_DataQOutIndex++;
if (_DataQOutIndex == _MAX_MSG_QUEUE_SIZE) {
_DataQOutIndex = 0;
}
} else {
PX4_ERR("Error:[get_data-DATA] type msg max topic_name_len[%ld] > dataMsgLen[%d] ",
topic_name_len,
_DataMsgQueue[ _DataQOutIndex ]._MsgName.size()
);
PX4_ERR("Error:[get_data-DATA] Or data_buffer_len[%ld] > message_size[%ld] ",
data_len_in_bytes,
_DataMsgQueue[ _DataQOutIndex ]._Length
);
rc = -1;
}
}
} else {
PX4_ERR("[get_data] Error: Semaphore is up when there is no data on the control/data queues");
rc = -1;
}
_QueueMutex.unlock();
hrt_abstime t3 = hrt_absolute_time();
if ((unsigned long)(t3 - t1) > _get_max) { _get_max = (unsigned long)(t3 - t1); }
if ((unsigned long)(t3 - t1) < _get_min) { _get_min = (unsigned long)(t3 - t1); }
if ((unsigned long)(t3 - check_time) > 1000000) {
if (rc != 0) {
topic_name[0] = '\0';
}
/*
PX4_DEBUG("GetData: %30s: t1: %lu t2: %lu t3: %lu", topic_name, (unsigned long)t1, (unsigned long)t2,
(unsigned long)t3);
PX4_DEBUG(".... dt1: %7lu dt2: %7lu Q: %d", (unsigned long)(t2 - t1), (unsigned long)(t3 - t2), DataQSize());
PX4_DEBUG("ADSP RPC Stats: _get_min: %lu _get_max: %lu _dropped_pkts: %lu", _get_min, _get_max, _dropped_pkts);
*/
check_time = t3;
}
return rc;
}
int16_t uORB::FastRpcChannel::get_bulk_data
(
uint8_t *buffer,
int32_t max_buffer_in_bytes,
int32_t *returned_bytes,
int32_t *topic_count
)
{
int16_t rc = 0;
// wait for data availability
static hrt_abstime check_time = 0;
hrt_abstime t1 = hrt_absolute_time();
_DataAvailableSemaphore.wait();
//hrt_abstime t2 = hrt_absolute_time();
_QueueMutex.lock();
int32_t bytes_copied = 0;
int32_t copy_result = 0;
*returned_bytes = 0;
*topic_count = 0;
int32_t topic_count_to_return = 0;
if (DataQSize() != 0 || ControlQSize() != 0) {
if (DataQSize() != 0) {
//PX4_DEBUG( "get_bulk_data: QSize: %d", DataQSize() );
topic_count_to_return = DataQSize();
while (DataQSize() != 0) {
// this is a hack as we are using a counting semaphore. Should be re-implemented with cond_variable and wait.
//_DataAvailableSemaphore.wait();
if (get_msg_size_at(true, _DataQOutIndex) < (max_buffer_in_bytes - bytes_copied)) {
// there is enough space in the buffer, copy the data.
//PX4_DEBUG( "Coping Data to buffer..." );
copy_result = copy_msg_to_buffer(true, _DataQOutIndex, buffer, bytes_copied, max_buffer_in_bytes);
if (copy_result == -1) {
if (bytes_copied == 0) {
rc = -1;
}
break;
} else {
//PX4_DEBUG( "[%d] %02x %02x %02x %02x", *topic_count,\
// buffer[bytes_copied], \
// buffer[bytes_copied+1], \
// buffer[bytes_copied+2], \
// buffer[bytes_copied+3] );
bytes_copied += copy_result;
(*topic_count)++;
*returned_bytes = bytes_copied;
_DataQOutIndex++;
if (_DataQOutIndex == _MAX_MSG_QUEUE_SIZE) {
_DataQOutIndex = 0;
}
}
} else {
if (bytes_copied == 0) {
rc = -1;
PX4_WARN("ERROR: Insufficent space in data buffer, no topics returned");
} else {
PX4_DEBUG("Exiting out of the while loop...");
}
break;
}
}
}
if (ControlQSize() != 0) {
//PX4_DEBUG( "get_bulk_data: QSize: %d", ControlQSize() );
topic_count_to_return += ControlQSize();
while (ControlQSize() != 0) {
// this is a hack as we are using a counting semaphore. Should be re-implemented with cond_variable and wait.
//_DataAvailableSemaphore.wait();
if (get_msg_size_at(false, _ControlQOutIndex) < (max_buffer_in_bytes - bytes_copied)) {
// there is enough space in the buffer, copy the data.
//PX4_DEBUG( "Coping Control msg to buffer..." );
copy_result = copy_msg_to_buffer(false, _ControlQOutIndex, buffer, bytes_copied, max_buffer_in_bytes);
if (copy_result == -1) {
if (bytes_copied == 0) {
rc = -1;
}
break;
} else {
//PX4_DEBUG( "[%d] %02x %02x %02x %02x", *topic_count,\
// buffer[bytes_copied], \
// buffer[bytes_copied+1], \
// buffer[bytes_copied+2], \
// buffer[bytes_copied+3] );
bytes_copied += copy_result;
(*topic_count)++;
*returned_bytes = bytes_copied;
_ControlQOutIndex++;
if (_ControlQOutIndex == _MAX_MSG_QUEUE_SIZE) {
_ControlQOutIndex = 0;
}
}
} else {
if (bytes_copied == 0) {
rc = -1;
PX4_WARN("ERROR: Insufficent space in data buffer, no topics returned");
} else {
PX4_DEBUG("Exiting out of the while loop...");
}
break;
}
}
}
} else {
PX4_ERR("[get_data_bulk] Error: Semaphore is up when there is no data on the control/data queues");
rc = -1;
}
if (topic_count_to_return != *topic_count) {
PX4_WARN("Not sending all topics: topics_to_return:[%ld] topics_returning:[%ld]", topic_count_to_return, *topic_count);
}
_QueueMutex.unlock();
hrt_abstime t3 = hrt_absolute_time();
if ((unsigned long)(t3 - t1) > _get_bulk_max) { _get_bulk_max = (unsigned long)(t3 - t1); }
if ((unsigned long)(t3 - t1) < _get_bulk_min) { _get_bulk_min = (unsigned long)(t3 - t1); }
if ((unsigned long)(*topic_count) > _bulk_topic_count_max) { _bulk_topic_count_max = (unsigned long)(*topic_count); }
if ((unsigned long)(*topic_count) < _bulk_topic_count_min) { _bulk_topic_count_min = (unsigned long)(*topic_count); }
if ((unsigned long)(t3 - check_time) > 10000000) {
//PX4_DEBUG("GetData: t1: %lu t2: %lu t3: %lu", (unsigned long)t1, (unsigned long)t2, (unsigned long)t3);
//PX4_DEBUG(".... dt1: %7lu dt2: %7lu Q: %d", (unsigned long)(t2 - t1), (unsigned long)(t3 - t2), DataQSize());
//PX4_DEBUG("ADSP RPC Stats: _get_bulk_min: %lu _get_bulk_max: %lu _dropped_pkts: %lu", _get_bulk_min, _get_bulk_max,
// _dropped_pkts);
//PX4_DEBUG(" .... topic_count_min: %lu topic_count_max: %lu", _bulk_topic_count_min, _bulk_topic_count_max);
_get_bulk_max = 0;
_get_bulk_min = 0xFFFFFF;
_bulk_topic_count_min = 0xFFFFFF;
_bulk_topic_count_max = 0;
check_time = t3;
}
//PX4_DEBUG( "Returning topics: %d bytes_returned: %d", *topic_count, *returned_bytes );
return rc;
}
int32_t uORB::FastRpcChannel::get_msg_size_at(bool isData, int32_t index)
{
// the assumption here is that this is called within the context of semaphore,
// hence lock/unlock is not needed.
int32_t rc = 0;
if (isData) {
rc += _DataMsgQueue[ index ]._Length;
rc += _DataMsgQueue[ index ]._MsgName.size() + 1;
} else {
rc += _ControlMsgQueue[ index ]._MsgName.size() + 1;
}
rc += _PACKET_HEADER_SIZE;
return rc;
}
int32_t uORB::FastRpcChannel::copy_msg_to_buffer(bool isData, int32_t src_index, uint8_t *dst_buffer, int32_t offset,
int32_t dst_buffer_len)
{
int32_t rc = -1;
// before calling this method the following are assumed:
// * sem_lock is acquired for data protection
// * the dst_buffer is validated to
uint16_t msg_size = (isData ?
(uint16_t)(_DataMsgQueue[ src_index ]._MsgName.size()) :
(uint16_t)(_ControlMsgQueue[ src_index ]._MsgName.size()));
// compute the different offsets to pack the packets.
int32_t field_header_offset = offset;
int32_t field_topic_name_offset = field_header_offset + sizeof(struct BulkTransferHeader);
int32_t field_data_offset = field_topic_name_offset + msg_size + 1;
int16_t msg_type = isData ? _DATA_MSG_TYPE : _ControlMsgQueue[ src_index ]._Type;
struct BulkTransferHeader header = { (uint16_t)msg_type, (uint16_t)(msg_size + 1),
(uint16_t)(isData ? (_DataMsgQueue[ src_index ]._Length) : 0)
};
//PX4_DEBUG( "Offsets: header[%d] name[%d] data[%d]",
// field_header_offset,
// field_topic_name_offset,
// field_data_offset );
if (isData && (field_data_offset + _DataMsgQueue[ src_index ]._Length) < dst_buffer_len) {
memmove(&(dst_buffer[field_header_offset]), (char *)(&header), sizeof(header));
// pack the data here.
memmove
(
&(dst_buffer[field_topic_name_offset]),
_DataMsgQueue[ src_index ]._MsgName.c_str(),
_DataMsgQueue[ src_index ]._MsgName.size()
);
if (_DataMsgQueue[ src_index ]._MsgName.size() == 0) {
PX4_WARN("########## Error MsgName cannot be zero: ");
}
dst_buffer[ field_topic_name_offset + _DataMsgQueue[ src_index ]._MsgName.size()] = '\0';
memmove(&(dst_buffer[field_data_offset]), _DataMsgQueue[ src_index ]._Buffer, _DataMsgQueue[ src_index ]._Length);
rc = field_data_offset + _DataMsgQueue[ src_index ]._Length - offset;
} else if (field_data_offset < dst_buffer_len) { //This is a control message
memmove(&(dst_buffer[field_header_offset]), (char *)(&header), sizeof(header));
// pack the data here.
memmove
(
&(dst_buffer[field_topic_name_offset]),
_ControlMsgQueue[ src_index ]._MsgName.c_str(),
_ControlMsgQueue[ src_index ]._MsgName.size()
);
if (_ControlMsgQueue[ src_index ]._MsgName.size() == 0) {
PX4_WARN("########## Error MsgName cannot be zero: ");
}
dst_buffer[ field_topic_name_offset + _ControlMsgQueue[ src_index ]._MsgName.size()] = '\0';
rc = field_data_offset - offset;
} else {
PX4_WARN("Error coping the Msg to dst buffer, insuffienct space. ");
if (isData) {
PX4_WARN("Data... offset[%ld] len[%ld] data_msg_len[%ld]",
offset, dst_buffer_len, (field_data_offset - offset) + _DataMsgQueue[ src_index ]._Length);
} else {
PX4_WARN("ControlMsg... offset[%ld] len[%ld]",
offset, dst_buffer_len, (field_data_offset - offset));
}
}
return rc;
}
src/modules/muorb/adsp/uORBFastRpcChannel.hpp
-301
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@@ -1,301 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
#ifndef _uORBFastRpcChannel_hpp_
#define _uORBFastRpcChannel_hpp_
#include <stdint.h>
#include <string>
#include <list>
#include "uORB/uORBCommunicator.hpp"
#include <semaphore.h>
#include <set>
#include <px4_platform_common/sem.h>
namespace uORB
{
class FastRpcChannel;
}
class uORB::FastRpcChannel : public uORBCommunicator::IChannel
{
public:
/**
* static method to get the IChannel Implementor.
*/
static uORB::FastRpcChannel *GetInstance()
{
return &(_Instance);
}
/**
* @brief Interface to notify the remote entity of a topic being advertised.
*
* @param messageName
* This represents the uORB message name(aka topic); This message name should be
* globally unique.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t topic_advertised(const char *messageName);
/**
* @brief Interface to notify the remote entity of a topic being unadvertised
* and is no longer publishing messages.
*
* @param messageName
* This represents the uORB message name(aka topic); This message name should be
* globally unique.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t topic_unadvertised(const char *messageName);
/**
* @brief Interface to notify the remote entity of interest of a
* subscription for a message.
*
* @param messageName
* This represents the uORB message name; This message name should be
* globally unique.
* @param msgRate
* The max rate at which the subscriber can accept the messages.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t add_subscription(const char *messageName, int32_t msgRateInHz);
/**
* @brief Interface to notify the remote entity of removal of a subscription
*
* @param messageName
* This represents the uORB message name; This message name should be
* globally unique.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not necessarily mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t remove_subscription(const char *messageName);
/**
* Register Message Handler. This is internal for the IChannel implementer*
*/
virtual int16_t register_handler(uORBCommunicator::IChannelRxHandler *handler);
//=========================================================================
// INTERFACES FOR Data messages
//=========================================================================
/**
* @brief Sends the data message over the communication link.
* @param messageName
* This represents the uORB message name; This message name should be
* globally unique.
* @param length
* The length of the data buffer to be sent.
* @param data
* The actual data to be sent.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t send_message(const char *messageName, int32_t length, uint8_t *data);
//Function to return the data to krait.
int16_t get_data
(
int32_t *msg_type,
char *topic_name,
int32_t topic_name_len,
uint8_t *data,
int32_t data_len_in_bytes,
int32_t *bytes_returned
);
int16_t get_bulk_data(uint8_t *buffer, int32_t max_size_in_bytes, int32_t *returned_bytes, int32_t *topic_count);
// function to check if there are subscribers for a topic on adsp.
int16_t is_subscriber_present(const char *messageName, int32_t *status);
// function to release the blocking semaphore for get_data method.
int16_t unblock_get_data_method();
uORBCommunicator::IChannelRxHandler *GetRxHandler()
{
return _RxHandler;
}
void AddRemoteSubscriber(const std::string &messageName)
{
_RemoteSubscribers.insert(messageName);
}
void RemoveRemoteSubscriber(const std::string &messageName)
{
_RemoteSubscribers.erase(messageName);
}
private: // data members
static uORB::FastRpcChannel _Instance;
uORBCommunicator::IChannelRxHandler *_RxHandler;
/// data structure to store the messages to be retrived by Krait.
static const int32_t _MAX_MSG_QUEUE_SIZE = 100;
static const int32_t _CONTROL_MSG_TYPE_ADD_SUBSCRIBER = 1;
static const int32_t _CONTROL_MSG_TYPE_REMOVE_SUBSCRIBER = 2;
static const int32_t _DATA_MSG_TYPE = 3;
static const int32_t _CONTROL_MSG_TYPE_ADVERTISE = 4;
static const int32_t _CONTROL_MSG_TYPE_UNADVERTISE = 5;
static const int32_t _PACKET_FIELD_TOPIC_NAME_LEN_SIZE_IN_BYTES = 2;
static const int32_t _PACKET_FIELD_DATA_LEN_IN_BYTES = 2;
static const int32_t _PACKET_HEADER_SIZE = 1 + //first byte is the MSG Type
_PACKET_FIELD_TOPIC_NAME_LEN_SIZE_IN_BYTES + _PACKET_FIELD_DATA_LEN_IN_BYTES;
struct FastRpcDataMsg {
int32_t _MaxBufferSize;
int32_t _Length;
uint8_t *_Buffer;
std::string _MsgName;
};
struct FastRpcControlMsg {
int32_t _Type;
std::string _MsgName;
};
struct BulkTransferHeader {
uint16_t _MsgType;
uint16_t _MsgNameLen;
uint16_t _DataLen;
};
struct FastRpcDataMsg _DataMsgQueue[ _MAX_MSG_QUEUE_SIZE ];
int32_t _DataQInIndex;
int32_t _DataQOutIndex;
struct FastRpcControlMsg _ControlMsgQueue[ _MAX_MSG_QUEUE_SIZE ];
int32_t _ControlQInIndex;
int32_t _ControlQOutIndex;
std::list<std::string> _Subscribers;
//utility classes
class Mutex
{
public:
Mutex()
{
sem_init(&_Sem, 0, 1);
}
~Mutex()
{
sem_destroy(&_Sem);
}
void lock()
{
sem_wait(&_Sem);
}
void unlock()
{
sem_post(&_Sem);
}
private:
sem_t _Sem;
Mutex(const Mutex &);
Mutex &operator=(const Mutex &);
};
class Semaphore
{
public:
Semaphore()
{
sem_init(&_Sem, 0, 0);
/* _Sem use case is a signal */
px4_sem_setprotocol(&_Sem, SEM_PRIO_NONE);
}
~Semaphore()
{
sem_destroy(&_Sem);
}
void post()
{
sem_post(&_Sem);
}
void wait()
{
sem_wait(&_Sem);
}
private:
sem_t _Sem;
Semaphore(const Semaphore &);
Semaphore &operator=(const Semaphore &);
};
Mutex _QueueMutex;
Semaphore _DataAvailableSemaphore;
private://class members.
/// constructor.
FastRpcChannel();
void check_and_expand_data_buffer(int32_t index, int32_t length);
bool IsControlQFull();
bool IsControlQEmpty();
bool IsDataQFull();
bool IsDataQEmpty();
int32_t DataQSize();
int32_t ControlQSize();
int32_t get_msg_size_at(bool isData, int32_t index);
int32_t copy_msg_to_buffer(bool isData, int32_t src_index, uint8_t *dst_buffer, int32_t offset, int32_t dst_buffer_len);
int16_t control_msg_queue_add(int32_t msgtype, const char *messageName);
std::set<std::string> _RemoteSubscribers;
};
#endif /* _uORBFastRpcChannel_hpp_ */
src/modules/muorb/krait/CMakeLists.txt
-47
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@@ -1,47 +0,0 @@
############################################################################
#
# Copyright (c) 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(hexagon_sdk)
px4_add_module(
MODULE modules__muorb__krait
MAIN muorb
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
INCLUDES
${HEXAGON_SDK_INCLUDES}
${PX4_BINARY_DIR}/platforms/posix
SRCS
uORBKraitFastRpcChannel.cpp
px4muorb_KraitRpcWrapper.cpp
muorb_main.cpp
)
src/modules/muorb/krait/muorb_main.cpp
-103
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@@ -1,103 +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.
*
****************************************************************************/
#include <string.h>
#include "modules/uORB/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")) {
if (uORB::KraitFastRpcChannel::isInstance()) {
PX4_WARN("muorb already running");
} else {
// 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")) {
if (uORB::KraitFastRpcChannel::isInstance()) {
uORB::KraitFastRpcChannel::GetInstance()->Stop();
} else {
PX4_WARN("muorb not running");
}
return OK;
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "status")) {
if (uORB::KraitFastRpcChannel::isInstance()) {
PX4_WARN("muorb running");
} else {
PX4_WARN("muorb not running");
}
return OK;
}
usage();
return -EINVAL;
}
src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
-362
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@@ -1,362 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2016 Ramakrishna Kintada. 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 <time.h>
#include <unistd.h>
#include <fcntl.h>
#include "px4muorb_KraitRpcWrapper.hpp"
#include <rpcmem.h>
#include <px4muorb.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/shmem.h>
#include <drivers/drv_hrt.h>
#include <string.h>
using namespace px4muorb;
/* Flags applied to the allocation of the shared memory for RPC */
#define MUORB_KRAIT_FASTRPC_MEM_FLAGS 0
/* The ID of the HEAP to be used when allocating shared memory */
//TODO This heap id is used for test purposes. We need to find out the correct one.
#define MUORB_KRAIT_FASTRPC_HEAP_ID 22
static char *_TopicNameBuffer = 0;
static const int32_t _MAX_TOPIC_NAME_BUFFER = 256;
static uint8_t *_DataBuffer = 0;
static const uint32_t _MAX_DATA_BUFFER_SIZE = 2048;
static bool _Initialized = false;
// These numbers are based off the fact each fastrpc call for 64K packet is 94us.
// hence we are trying to allocation 64K of byte buffers.
static const uint32_t _MAX_TOPIC_DATA_BUFFER_SIZE = 1024;
static const uint32_t _MAX_TOPICS = 64;
static const uint32_t _MAX_BULK_TRANSFER_BUFFER_SIZE =
_MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS;
static uint8_t *_BulkTransferBuffer = 0;
unsigned char *adsp_changed_index = 0;
// The DSP timer can be read from this file.
#define DSP_TIMER_FILE "/sys/kernel/boot_adsp/qdsp_qtimer"
/**
* Helper function to get timer difference between time on DSP and appsproc side.
* Usually the DSP gets started around 2s before the appsproc (Linux) side and
* therefore the clocks are not in sync. We change the clock on the DSP side but
* for this we need to find the offset first and then tell code on the DSP side.
*
* @param time_diff_us: pointer to time offset to set.
* @return: 0 on success, < 0 on error.
*/
int calc_timer_diff_to_dsp_us(int32_t *time_diff_us);
int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
{
#if defined(__PX4_POSIX_EXCELSIOR)
*time_diff_us = 0;
return 0;
#endif
int fd = open(DSP_TIMER_FILE, O_RDONLY);
if (fd < 0) {
PX4_ERR("Could not open DSP timer file %s.", DSP_TIMER_FILE);
return -1;
}
char buffer[21] {};
int bytes_read = read(fd, buffer, sizeof(buffer));
if (bytes_read < 0) {
PX4_ERR("Could not read DSP timer file %s.", DSP_TIMER_FILE);
close(fd);
return -2;
}
// Do this call right after reading to avoid latency here.
timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
uint64_t time_appsproc = ((uint64_t) ts.tv_sec) * 1000000llu
+ (ts.tv_nsec / 1000);
close(fd);
uint64_t time_dsp;
int ret = sscanf(buffer, "%llx", &time_dsp);
if (ret < 0) {
PX4_ERR("Could not parse DSP timer.");
return -3;
}
// The clock count needs to get converted to us.
// The magic value of 19.2 was provided by Qualcomm.
time_dsp /= 19.2;
// Before casting to in32_t, check if it fits.
uint64_t abs_diff =
(time_appsproc > time_dsp) ?
(time_appsproc - time_dsp) : (time_dsp - time_appsproc);
if (abs_diff > INT32_MAX) {
PX4_ERR("Timer difference too big");
return -4;
}
*time_diff_us = time_appsproc - time_dsp;
PX4_DEBUG("found time_dsp: %llu us, time_appsproc: %llu us",
time_dsp, time_appsproc);
PX4_DEBUG("found time_diff: %li us, %.6f s",
*time_diff_us, ((double)*time_diff_us) / 1e6);
return 0;
}
bool px4muorb::KraitRpcWrapper::Initialize()
{
bool rc = true;
PX4_DEBUG("%s Now calling rpcmem_init...", __FUNCTION__);
rpcmem_init();
PX4_DEBUG("%s Now calling rpcmem_alloc...", __FUNCTION__);
_BulkTransferBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t));
rc = (_BulkTransferBuffer != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for bulk transfer buffers",
__FUNCTION__);
return rc;
} else {
PX4_DEBUG(
"%s rpcmem_alloc passed for Bulk transfer buffers buffer_size: %d addr: %p",
__FUNCTION__, (_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t)), _BulkTransferBuffer);
}
_TopicNameBuffer = (char *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_TOPIC_NAME_BUFFER * sizeof(char));
rc = (_TopicNameBuffer != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for topic_name_buffer", __FUNCTION__);
rpcmem_free(_BulkTransferBuffer);
return rc;
} else {
PX4_DEBUG("%s rpcmem_alloc passed for topic_name_buffer", __FUNCTION__);
}
// now allocate the data buffer.
_DataBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_DATA_BUFFER_SIZE * sizeof(uint8_t));
rc = (_DataBuffer != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for DataBuffer", __FUNCTION__);
// free the topic name buffer;
rpcmem_free(_BulkTransferBuffer);
rpcmem_free(_TopicNameBuffer);
_TopicNameBuffer = 0;
return rc;
} else {
PX4_DEBUG("%s rpcmem_alloc passed for data_buffer", __FUNCTION__);
}
adsp_changed_index = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS, PARAM_BUFFER_SIZE * sizeof(uint8_t));
rc = (adsp_changed_index != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for adsp_changed_index", __FUNCTION__);
} else {
memset(adsp_changed_index, 0, PARAM_BUFFER_SIZE * sizeof(uint8_t));
}
int32_t time_diff_us;
if (calc_timer_diff_to_dsp_us(&time_diff_us) != 0) {
rc = false;
return rc;
}
// call muorb initialize routine.
if (px4muorb_orb_initialize() != 0) {
PX4_ERR("%s Error calling the uorb fastrpc initalize method..",
__FUNCTION__);
rc = false;
return rc;
}
// TODO FIXME: remove this check or make it less verbose later
px4muorb_set_absolute_time_offset(time_diff_us);
uint64_t time_dsp;
px4muorb_get_absolute_time(&time_dsp);
uint64_t time_appsproc = hrt_absolute_time();
int diff = (time_dsp - time_appsproc);
PX4_DEBUG("time_dsp: %llu us, time appsproc: %llu us, diff: %d us",
time_dsp, time_appsproc, diff);
_Initialized = true;
return rc;
}
bool px4muorb::KraitRpcWrapper::Terminate()
{
if (_BulkTransferBuffer != NULL) {
rpcmem_free(_BulkTransferBuffer);
_BulkTransferBuffer = 0;
}
if (_TopicNameBuffer != NULL) {
rpcmem_free(_TopicNameBuffer);
_TopicNameBuffer = 0;
}
if (_DataBuffer != NULL) {
rpcmem_free(_DataBuffer);
_DataBuffer = 0;
}
if (adsp_changed_index != NULL) {
rpcmem_free(adsp_changed_index);
adsp_changed_index = 0;
}
_Initialized = false;
return true;
}
int32_t px4muorb::KraitRpcWrapper::TopicAdvertised(const char *topic)
{
return ((_Initialized) ? px4muorb_topic_advertised(topic) : -1);
}
int32_t px4muorb::KraitRpcWrapper::TopicUnadvertised(const char *topic)
{
return ((_Initialized) ? px4muorb_topic_unadvertised(topic) : -1);
}
int32_t px4muorb::KraitRpcWrapper::AddSubscriber(const char *topic)
{
return ((_Initialized) ? px4muorb_add_subscriber(topic) : -1);
}
int32_t px4muorb::KraitRpcWrapper::RemoveSubscriber(const char *topic)
{
return (_Initialized ? px4muorb_remove_subscriber(topic) : -1);
}
int32_t px4muorb::KraitRpcWrapper::IsSubscriberPresent(const char *topic,
int32_t *status)
{
return (_Initialized ? px4muorb_is_subscriber_present(topic, status) : -1);
}
int32_t px4muorb::KraitRpcWrapper::SendData(const char *topic,
int32_t length_in_bytes, const uint8_t *data)
{
return (_Initialized ?
px4muorb_send_topic_data(topic, data, length_in_bytes) : -1);
}
int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic,
int32_t *length_in_bytes, uint8_t **data)
{
int32_t rc = -1;
if (_Initialized) {
rc = px4muorb_receive_msg(msg_type, _TopicNameBuffer,
_MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE,
length_in_bytes);
if (rc == 0) {
*topic = _TopicNameBuffer;
*data = _DataBuffer;
} else {
PX4_ERR("ERROR: Getting data from fastRPC link");
}
} else {
PX4_ERR("ERROR: FastRpcWrapper Not Initialized");
}
return rc;
}
int32_t px4muorb::KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data,
int32_t *length_in_bytes, int32_t *topic_count)
{
int32_t rc = -1;
if (_Initialized) {
//rc = px4muorb_receive_msg( msg_type, _TopicNameBuffer, _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE, length_in_bytes );
rc = px4muorb_receive_bulk_data(_BulkTransferBuffer,
_MAX_BULK_TRANSFER_BUFFER_SIZE, length_in_bytes, topic_count);
if (rc == 0) {
*bulk_data = _BulkTransferBuffer;
} else {
PX4_ERR("ERROR: Getting Bulk data from fastRPC link");
}
} else {
PX4_ERR("ERROR: FastRpcWrapper Not Initialized");
}
return rc;
}
int32_t px4muorb::KraitRpcWrapper::UnblockReceiveData()
{
return (_Initialized ? px4muorb_unblock_recieve_msg() : -1);
}
src/modules/muorb/krait/px4muorb_KraitRpcWrapper.hpp
-78
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@@ -1,78 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 Ramakrishna Kintada. 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.
*
****************************************************************************/
#ifndef _px4muorb_KraitRpcWrapper_hpp_
#define _px4muorb_KraitRpcWrapper_hpp_
#include <stdint.h>
namespace px4muorb
{
class KraitRpcWrapper;
}
class px4muorb::KraitRpcWrapper
{
public:
/**
* Constructor
*/
KraitRpcWrapper() = default;
/**
* destructor
*/
~KraitRpcWrapper() = default;
/**
* Initiatizes the rpc channel px4 muorb
*/
bool Initialize();
/**
* Terminate to clean up the resources. This should be called at program exit
*/
bool Terminate();
/**
* Muorb related functions to pub/sub of orb topic from krait to adsp
*/
int32_t TopicAdvertised(const char *topic);
int32_t TopicUnadvertised(const char *topic);
int32_t AddSubscriber(const char *topic);
int32_t RemoveSubscriber(const char *topic);
int32_t SendData(const char *topic, int32_t length_in_bytes, const uint8_t *data);
int32_t ReceiveData(int32_t *msg_type, char **topic, int32_t *length_in_bytes, uint8_t **data);
int32_t IsSubscriberPresent(const char *topic, int32_t *status);
int32_t ReceiveBulkData(uint8_t **bulk_data, int32_t *length_in_bytes, int32_t *topic_count);
int32_t UnblockReceiveData();
};
#endif // _px4muorb_KraitWrapper_hpp_
src/modules/muorb/krait/uORBKraitFastRpcChannel.cpp
-375
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@@ -1,375 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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 "uORBKraitFastRpcChannel.hpp"
#include <px4_platform_common/log.h>
#include <px4_platform_common/tasks.h>
#include <drivers/drv_hrt.h>
#include <cstdio>
#include <pthread.h>
#include <string.h>
#define LOG_TAG "uORBKraitFastRpcChannel.cpp"
uORB::KraitFastRpcChannel *uORB::KraitFastRpcChannel::_InstancePtr = nullptr;
static void DumpData(uint8_t *buffer, int32_t length, int32_t num_topics);
// static initialization.
static std::string _log_file_name = "./hex_dump.txt";
static unsigned long _snd_msg_min = 0xFFFFFF;
static unsigned long _snd_msg_max = 0;
static double _snd_msg_avg = 0.0;
static unsigned long _snd_msg_count = 0;
static unsigned long _overall_snd_min = 0xFFFFFF;
static unsigned long _overall_snd_max = 0;
static double _overall_snd_avg = 0.0;
static unsigned long _overall_snd_count = 0;
static hrt_abstime _log_check_time = 0;
static hrt_abstime _log_check_interval = 10000000;
uORB::KraitFastRpcChannel::KraitFastRpcChannel() :
_RxHandler(nullptr),
_ThreadStarted(false),
_ThreadShouldExit(false)
{
_KraitWrapper.Initialize();
}
int16_t uORB::KraitFastRpcChannel::topic_advertised(const char *messageName)
{
int16_t rc = 0;
PX4_DEBUG("Before calling TopicAdvertised for [%s]\n", messageName);
rc = _KraitWrapper.TopicAdvertised(messageName);
PX4_DEBUG("Response for TopicAdvertised for [%s], rc[%d]\n", messageName, rc);
return rc;
}
int16_t uORB::KraitFastRpcChannel::topic_unadvertised(const char *messageName)
{
int16_t rc = 0;
PX4_DEBUG("Before calling TopicUnadvertised for [%s]\n", messageName);
rc = _KraitWrapper.TopicUnadvertised(messageName);
PX4_DEBUG("Response for TopicUnadvertised for [%s], rc[%d]\n", messageName, rc);
return rc;
}
int16_t uORB::KraitFastRpcChannel::add_subscription(const char *messageName, int32_t msgRateInHz)
{
int16_t rc = 0;
//PX4_DEBUG("Before calling AddSubscriber for [%s]\n", messageName);
rc = _KraitWrapper.AddSubscriber(messageName);
//PX4_DEBUG("Response for AddSubscriber for [%s], rc[%d]\n", messageName, rc);
return rc;
}
int16_t uORB::KraitFastRpcChannel::remove_subscription(const char *messageName)
{
int16_t rc = 0;
//PX4_DEBUG("Before calling RemoveSubscriber for [%s]\n", messageName);
rc = _KraitWrapper.RemoveSubscriber(messageName);
//PX4_DEBUG("Response for RemoveSubscriber for [%s], rc[%d]\n", messageName, rc);
return rc;
}
int16_t uORB::KraitFastRpcChannel::register_handler(uORBCommunicator::IChannelRxHandler *handler)
{
_RxHandler = handler;
return 0;
}
int16_t uORB::KraitFastRpcChannel::send_message(const char *messageName, int32_t length, uint8_t *data)
{
int16_t rc = 0;
int32_t status = 0;
hrt_abstime t1, t4;
hrt_abstime t2 = 0;
hrt_abstime t3 = 0;
t1 = hrt_absolute_time();
if (_AdspSubscriberCache.find(std::string(messageName)) == _AdspSubscriberCache.end()) {
// check the status from adsp. as it is not cached.
if (_KraitWrapper.IsSubscriberPresent(messageName, &status) == 0) {
_AdspSubscriberCache[messageName] = status;
_AdspSubscriberSampleTimestamp[messageName] = hrt_absolute_time();
}
} else {
if ((hrt_absolute_time() - _AdspSubscriberSampleTimestamp[messageName]) > _SubCacheRefreshRate) {
if (_KraitWrapper.IsSubscriberPresent(messageName, &status) == 0) {
_AdspSubscriberCache[messageName] = status;
_AdspSubscriberSampleTimestamp[messageName] = hrt_absolute_time();
}
}
}
if (_AdspSubscriberCache[messageName] > 0) {// there are remote subscribers
t2 = hrt_absolute_time();
rc = _KraitWrapper.SendData(messageName, length, data);
t3 = hrt_absolute_time();
_snd_msg_count++;
//PX4_DEBUG( "***** SENDING[%s] topic to remote....\n", messageName.c_str() );
} else {
//PX4_DEBUG( "******* NO SUBSCRIBER PRESENT ON THE REMOTE FOR topic[%s] \n", messageName.c_str() );
}
t4 = hrt_absolute_time();
_overall_snd_count++;
if ((t4 - t1) < _overall_snd_min) { _overall_snd_min = (t4 - t1); }
if ((t4 - t1) > _overall_snd_max) { _overall_snd_max = (t4 - t1); }
if (_AdspSubscriberCache[messageName] > 0) {
if ((t3 - t2) < _snd_msg_min) { _snd_msg_min = (t3 - t2); }
if ((t3 - t2) > _snd_msg_max) { _snd_msg_max = (t3 - t2); }
_snd_msg_avg = ((double)((_snd_msg_avg * (_snd_msg_count - 1)) +
(unsigned long)(t3 - t2))) / (double)(_snd_msg_count);
}
_overall_snd_avg = ((double)((_overall_snd_avg * (_overall_snd_count - 1)) +
(unsigned long)(t4 - t1))) / (double)(_overall_snd_count);
if ((t4 - _log_check_time) > _log_check_interval) {
/*
PX4_DEBUG("SndMsgStats: overall_min: %lu overall_max: %lu snd_msg_min: %lu snd_msg_max: %lu",
_overall_snd_min, _overall_snd_max,
_snd_msg_min, _snd_msg_max);
PX4_DEBUG(".... overall_avg: %f (%lu) snd_msg_avg: %f (%lu)",
_overall_snd_avg, _overall_snd_count, _snd_msg_avg, _snd_msg_count);
*/
_log_check_time = t4;
_overall_snd_min = _snd_msg_min = 0xFFFFFFF;
_overall_snd_max = _snd_msg_max = 0;
_overall_snd_count = _snd_msg_count = 0;
_overall_snd_avg = _snd_msg_avg = 0.0;
}
//PX4_DEBUG( "Response for SendMessage for [%s],len[%d] rc[%d]\n", messageName.c_str(), length, rc );
return rc;
}
void uORB::KraitFastRpcChannel::Start()
{
_ThreadStarted = true;
_ThreadShouldExit = false;
pthread_attr_t recv_thread_attr;
pthread_attr_init(&recv_thread_attr);
struct sched_param param;
(void)pthread_attr_getschedparam(&recv_thread_attr, &param);
param.sched_priority = SCHED_PRIORITY_MAX - 80;
(void)pthread_attr_setschedparam(&recv_thread_attr, &param);
pthread_attr_setstacksize(&recv_thread_attr, 4096);
if (pthread_create(&_RecvThread, &recv_thread_attr, thread_start, (void *)this) != 0) {
PX4_ERR("Error creating the receive thread for muorb");
} else {
pthread_setname_np(_RecvThread, "muorb_krait_receiver");
}
pthread_attr_destroy(&recv_thread_attr);
}
void uORB::KraitFastRpcChannel::Stop()
{
_ThreadShouldExit = true;
_KraitWrapper.UnblockReceiveData();
//PX4_DEBUG("After calling UnblockReceiveData()...\n");
pthread_join(_RecvThread, NULL);
//PX4_DEBUG("*** After calling pthread_join...\n");
_ThreadStarted = false;
}
void *uORB::KraitFastRpcChannel::thread_start(void *handler)
{
if (handler != nullptr) {
((uORB::KraitFastRpcChannel *)handler)->fastrpc_recv_thread();
}
return 0;
}
void uORB::KraitFastRpcChannel::fastrpc_recv_thread()
{
// sit in while loop.
int32_t rc = 0;
int32_t data_length = 0;
uint8_t *data = nullptr;
unsigned long rpc_min, rpc_max;
unsigned long orb_min, orb_max;
double rpc_avg, orb_avg;
unsigned long count = 0;
rpc_max = orb_max = 0;
rpc_min = orb_min = 0xFFFFFFFF;
rpc_avg = orb_avg = 0.0;
int32_t num_topics = 0;
hrt_abstime check_time = 0;
while (!_ThreadShouldExit) {
hrt_abstime t1, t2, t3;
t1 = hrt_absolute_time();
rc = _KraitWrapper.ReceiveBulkData(&data, &data_length, &num_topics);
t2 = hrt_absolute_time();
if (rc == 0) {
//PX4_DEBUG( "Num of topics Received: %d", num_topics );
int32_t bytes_processed = 0;
for (int i = 0; i < num_topics; ++i) {
uint8_t *new_pkt = &(data[bytes_processed]);
struct BulkTransferHeader *header = (struct BulkTransferHeader *)new_pkt;
char *messageName = (char *)(new_pkt + sizeof(struct BulkTransferHeader));
uint16_t check_msg_len = strlen(messageName);
if (header->_MsgNameLen != (check_msg_len + 1)) {
PX4_ERR("Error: Packing error. Sent Msg Len. of[%d] but strlen returned:[%d]", header->_MsgNameLen, check_msg_len);
PX4_ERR("Error: NumTopics: %d processing topic: %d msgLen[%d] dataLen[%d] data_len[%d] bytes processed: %d",
num_topics, i, header->_MsgNameLen, header->_DataLen, data_length, bytes_processed);
DumpData(data, data_length, num_topics);
break;
}
uint8_t *topic_data = (uint8_t *)(messageName + strlen(messageName) + 1);
if (_RxHandler != nullptr) {
if (header->_MsgType == _DATA_MSG_TYPE) {
//PX4_DEBUG( "Received topic data for: [%s] len[%d]\n", messageName, data_length );
_RxHandler->process_received_message(messageName,
header->_DataLen, topic_data);
} else if (header->_MsgType == _CONTROL_MSG_TYPE_ADVERTISE) {
PX4_DEBUG("Received topic advertise message for: [%s] len[%d]\n", messageName, data_length);
_RxHandler->process_remote_topic(messageName, true);
} else if (header->_MsgType == _CONTROL_MSG_TYPE_UNADVERTISE) {
PX4_DEBUG("Received topic unadvertise message for: [%s] len[%d]\n", messageName, data_length);
_RxHandler->process_remote_topic(messageName, false);
}
}
bytes_processed += header->_MsgNameLen + header->_DataLen + sizeof(struct BulkTransferHeader);
}
} else {
PX4_DEBUG("Error: Getting data over fastRPC channel\n");
break;
}
t3 = hrt_absolute_time();
count++;
if ((unsigned long)(t2 - t1) < rpc_min) {
rpc_min = (unsigned long)(t2 - t1);
}
if ((unsigned long)(t2 - t1) > rpc_max) {
rpc_max = (unsigned long)(t2 - t1);
}
if ((unsigned long)(t3 - t2) < orb_min) {
orb_min = (unsigned long)(t3 - t2);
}
if ((unsigned long)(t3 - t2) > orb_max) {
orb_max = (unsigned long)(t3 - t2);
}
rpc_avg = ((double)((rpc_avg * (count - 1)) + (unsigned long)(t2 - t1))) / (double)(count);
orb_avg = ((double)((orb_avg * (count - 1)) + (unsigned long)(t3 - t2))) / (double)(count);
if ((unsigned long)(t3 - check_time) >= 10000000) {
//PX4_DEBUG("Krait RPC Stats : rpc_min: %lu rpc_max: %lu rpc_avg: %f", rpc_min, rpc_max, rpc_avg);
//PX4_DEBUG("Krait RPC(orb) Stats: orb_min: %lu orb_max: %lu orb_avg: %f", orb_min, orb_max, orb_avg);
check_time = t3;
rpc_max = orb_max = 0;
rpc_min = orb_min = 0xFFFFFF;
orb_avg = 0;
rpc_avg = 0;
count = 0;
}
//PX4_DEBUG("MsgName: %30s, t1: %lu, t2: %lu, t3: %lu, dt1: %lu, dt2: %lu",name, (unsigned long) t1, (unsigned long) t2, (unsigned long) t3,
// (unsigned long) (t2-t1), (unsigned long) (t3-t2));
}
PX4_DEBUG("[uORB::KraitFastRpcChannel::fastrpc_recv_thread] Exiting fastrpc_recv_thread\n");
}
void DumpData(uint8_t *buffer, int32_t length, int32_t num_topics)
{
FILE *fp = fopen(_log_file_name.c_str(), "a+");
if (fp == nullptr) {
PX4_ERR("Error unable to open log file[%s]", _log_file_name.c_str());
return;
}
fprintf(fp, "===== Data Len[%d] num_topics[%d] ======\n", length, num_topics);
for (int i = 0; i < length; i += 16) {
int remaining_chars = length - i;
remaining_chars = (remaining_chars >= 16) ? 16 : remaining_chars;
fprintf(fp, "%p - ", &(buffer[i]));
for (int j = 0; j < remaining_chars; j++) {
fprintf(fp, " %02X", buffer[i + j]);
if (j == 7) {
fprintf(fp, " -");
}
}
fprintf(fp, " ");
for (int j = 0; j < remaining_chars; j++) {
fprintf(fp, "%c", (char)buffer[i + j ]);
}
fprintf(fp, "\n");
}
fclose(fp);
}
src/modules/muorb/krait/uORBKraitFastRpcChannel.hpp
-196
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@@ -1,196 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
#ifndef _uORBKraitFastRpcChannel_hpp_
#define _uORBKraitFastRpcChannel_hpp_
#include <stdint.h>
#include <string>
#include <pthread.h>
#include "uORB/uORBCommunicator.hpp"
#include "px4muorb_KraitRpcWrapper.hpp"
#include <map>
#include "drivers/drv_hrt.h"
namespace uORB
{
class KraitFastRpcChannel;
}
class uORB::KraitFastRpcChannel : public uORBCommunicator::IChannel
{
public:
/**
* static method to get the IChannel Implementor.
*/
static uORB::KraitFastRpcChannel *GetInstance()
{
if (_InstancePtr == nullptr) {
_InstancePtr = new uORB::KraitFastRpcChannel();
}
return _InstancePtr;
}
/**
* Static method to check if there is an instance.
*/
static bool isInstance()
{
return (_InstancePtr != nullptr);
}
/**
* @brief Interface to notify the remote entity of a topic being advertised.
*
* @param messageName
* This represents the uORB message name(aka topic); This message name should be
* globally unique.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t topic_advertised(const char *messageName);
/**
* @brief Interface to notify the remote entity of a topic being unadvertised
* and is no longer publishing messages.
*
* @param messageName
* This represents the uORB message name(aka topic); This message name should be
* globally unique.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t topic_unadvertised(const char *messageName);
/**
* @brief Interface to notify the remote entity of interest of a
* subscription for a message.
*
* @param messageName
* This represents the uORB message name; This message name should be
* globally unique.
* @param msgRate
* The max rate at which the subscriber can accept the messages.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t add_subscription(const char *messageName, int32_t msgRateInHz);
/**
* @brief Interface to notify the remote entity of removal of a subscription
*
* @param messageName
* This represents the uORB message name; This message name should be
* globally unique.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not necessarily mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t remove_subscription(const char *messageName);
/**
* Register Message Handler. This is internal for the IChannel implementer*
*/
virtual int16_t register_handler(uORBCommunicator::IChannelRxHandler *handler);
//=========================================================================
// INTERFACES FOR Data messages
//=========================================================================
/**
* @brief Sends the data message over the communication link.
* @param messageName
* This represents the uORB message name; This message name should be
* globally unique.
* @param length
* The length of the data buffer to be sent.
* @param data
* The actual data to be sent.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t send_message(const char *messageName, int32_t length, uint8_t *data);
void Start();
void Stop();
private: // data members
static uORB::KraitFastRpcChannel *_InstancePtr;
uORBCommunicator::IChannelRxHandler *_RxHandler;
pthread_t _RecvThread;
bool _ThreadStarted;
bool _ThreadShouldExit;
static const int32_t _CONTROL_MSG_TYPE_ADD_SUBSCRIBER = 1;
static const int32_t _CONTROL_MSG_TYPE_REMOVE_SUBSCRIBER = 2;
static const int32_t _DATA_MSG_TYPE = 3;
static const int32_t _CONTROL_MSG_TYPE_ADVERTISE = 4;
static const int32_t _CONTROL_MSG_TYPE_UNADVERTISE = 5;
struct BulkTransferHeader {
uint16_t _MsgType;
uint16_t _MsgNameLen;
uint16_t _DataLen;
};
px4muorb::KraitRpcWrapper _KraitWrapper;
std::map<std::string, int32_t> _AdspSubscriberCache;
std::map<std::string, hrt_abstime> _AdspSubscriberSampleTimestamp;
//hrt_abstime _SubCacheSampleTimestamp;
static const hrt_abstime _SubCacheRefreshRate = 1000000; // 1 second;
private://class members.
/// constructor.
KraitFastRpcChannel();
static void *thread_start(void *handler);
void fastrpc_recv_thread();
};
#endif /* _uORBKraitFastRpcChannel_hpp_ */
src/modules/muorb/test/CMakeLists.txt
-41
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@@ -1,41 +0,0 @@
############################################################################
#
# Copyright (c) 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.
#
############################################################################
px4_add_module(
MODULE modules__muorb__test__muorb_test
MAIN muorb_test
SRCS
muorb_test_main.cpp
muorb_test_start_posix.cpp
muorb_test_example.cpp
DEPENDS
)
src/modules/muorb/test/muorb_test_example.cpp
-137
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@@ -1,137 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file hello_example.cpp
* Example for Linux
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include "muorb_test_example.h"
#include <px4_platform_common/log.h>
#include <unistd.h>
#include <stdio.h>
#include <px4_platform_common/defines.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
px4::AppState MuorbTestExample::appState;
int MuorbTestExample::main()
{
int rc;
appState.setRunning(true);
rc = PingPongTest();
appState.setRunning(false);
return rc;
}
int MuorbTestExample::DefaultTest()
{
int i = 0;
uORB::Subscription sub_vc{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Publication<esc_status_s> pub_id{ORB_ID(esc_status)};
pub_id.publish(m_esc_status);
while (!appState.exitRequested() && i < 100) {
PX4_DEBUG("[%d] Doing work...", i);
if (!pub_id.publish(m_esc_status)) {
PX4_ERR("[%d]Error publishing the esc status message for iter", i);
break;
}
if (sub_vc.updated()) {
PX4_DEBUG("[%d]Vechicle Status is updated... reading new value", i);
if (!sub_vc.copy(&m_vc)) {
PX4_ERR("[%d]Error calling orb copy for vechivle status... ", i);
break;
}
if (!vcmd_pub.publish(m_vc)) {
PX4_ERR("[%d]Error publishing the vechile command message", i);
break;
}
} else {
PX4_ERR("[%d]Error checking the updated status for vechile command... ", i);
PX4_DEBUG("[%d] VC topic is not updated", i);
break;
}
++i;
}
return 0;
}
int MuorbTestExample::PingPongTest()
{
int i = 0;
uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
uORB::Subscription sub_esc_status{ORB_ID(esc_status)};
while (!appState.exitRequested()) {
PX4_INFO("[%d] Doing work...", i);
if (sub_esc_status.updated()) {
PX4_INFO("[%d]ESC status is updated... reading new value", i);
if (!sub_esc_status.copy(&m_esc_status)) {
PX4_ERR("[%d]Error calling orb copy for esc status... ", i);
break;
}
if (!vcmd_pub.publish(m_vc)) {
PX4_ERR("[%d]Error publishing the vechile command message", i);
break;
}
} else {
PX4_INFO("[%d] esc status topic is not updated", i);
}
// sleep for 1 sec.
usleep(1000000);
++i;
}
return 0;
}
src/modules/muorb/test/muorb_test_example.h
-62
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@@ -1,62 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file hello_example.h
* Example app for Linux
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#pragma once
#include <px4_platform_common/app.h>
#include "uORB/topics/esc_status.h"
#include "uORB/topics/vehicle_command.h"
class MuorbTestExample
{
public:
MuorbTestExample() {}
~MuorbTestExample() {}
int main();
static px4::AppState appState; /* track requests to terminate app */
private:
int DefaultTest();
int PingPongTest();
struct esc_status_s m_esc_status;
struct vehicle_command_s m_vc = {};
};
src/modules/muorb/test/muorb_test_main.cpp
-59
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@@ -1,59 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file hello_main.cpp
* Example for Linux
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include <px4_platform_common/log.h>
#include <px4_platform_common/app.h>
#include <px4_platform_common/init.h>
#include "muorb_test_example.h"
#include <stdio.h>
#include "uORB/uORBManager.hpp"
#include "../../../modules/muorb/krait/uORBKraitFastRpcChannel.hpp"
int PX4_MAIN(int argc, char **argv)
{
px4::init(argc, argv, "muorb_test");
PX4_DEBUG("muorb_test");
MuorbTestExample hello;
hello.main();
PX4_DEBUG("goodbye");
return 0;
}
src/modules/muorb/test/muorb_test_start_posix.cpp
-101
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@@ -1,101 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file hello_start_linux.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Mark Charlebois <mcharleb@gmail.com>
*/
#include "muorb_test_example.h"
#include <px4_platform_common/log.h>
#include <px4_platform_common/app.h>
#include <px4_platform_common/tasks.h>
#include <stdio.h>
#include <string.h>
#include <sched.h>
static int daemon_task; /* Handle of deamon task / thread */
//using namespace px4;
extern "C" __EXPORT int muorb_test_main(int argc, char *argv[]);
static void usage()
{
PX4_DEBUG("usage: muorb_test {start|stop|status}");
}
int muorb_test_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
return 1;
}
if (!strcmp(argv[1], "start")) {
if (MuorbTestExample::appState.isRunning()) {
PX4_DEBUG("already running");
/* this is not an error */
return 0;
}
daemon_task = px4_task_spawn_cmd("muorb_test",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
16000,
PX4_MAIN,
(char *const *)argv);
return 0;
}
if (!strcmp(argv[1], "stop")) {
MuorbTestExample::appState.requestExit();
return 0;
}
if (!strcmp(argv[1], "status")) {
if (MuorbTestExample::appState.isRunning()) {
PX4_DEBUG("is running");
} else {
PX4_DEBUG("not started");
}
return 0;
}
usage();
return 1;
}