Multi-uORB support changes - part 1

This adds support for a dynamic build for QuRT and initial
Multi-uORB changes to enable communication between the DSP and
the application processor.

This part of the changes do not affect the POSIX build. This is
enablement for the QuRT build using Multi-uORB. The second part
of the changes will be added in a new module under src/modules.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/modules/uORB/uORBManager_posix.cpp

@@ -39,6 +39,7 @@
 #include <px4_posix.h>
 #include "uORBUtils.hpp"
 #include "uORBManager.hpp"
+#include "px4_config.h"
 #include "uORBDevices.hpp"
 
 
@@ -55,6 +56,7 @@ uORB::Manager* uORB::Manager::get_instance()
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 uORB::Manager::Manager()
+: _comm_channel( nullptr )
 {
 }
 
@@ -292,3 +294,103 @@ int uORB::Manager::node_open
   /* everything has been OK, we can return the handle now */
   return fd;
 }
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+void uORB::Manager::set_uorb_communicator( uORBCommunicator::IChannel* channel)
+{
+  _comm_channel = channel;
+  if (_comm_channel != nullptr) {
+    _comm_channel->register_handler(this);
+  }
+}
+
+uORBCommunicator::IChannel* uORB::Manager::get_uorb_communicator( void )
+{
+  return _comm_channel;
+}
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+int16_t uORB::Manager::process_add_subscription(const std::string& messageName,
+                                                int32_t msgRateInHz)
+{
+  warnx("[posix-uORB::Manager::process_add_subscription(%d)] entering Manager_process_add_subscription: name: %s",
+          __LINE__, messageName.c_str() );
+  int16_t rc = 0;
+  _remote_subscriber_topics.insert( messageName );
+  char nodepath[orb_maxpath];
+  int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName );
+  if (ret == OK) {
+    // get the node name.
+    uORB::DeviceNode* node = uORB::DeviceMaster::GetDeviceNode( nodepath );
+    if ( node == nullptr) {
+      warnx( "[posix-uORB::Manager::process_add_subscription(%d)]DeviceNode(%s) not created yet",
+             __LINE__, messageName.c_str() );
+    }
+    else{
+      // node is present.
+        node->process_add_subscription(msgRateInHz);
+    }
+  } else {
+    rc = -1;
+  }
+  return rc;
+}
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+int16_t uORB::Manager::process_remove_subscription(
+    const std::string& messageName)
+{
+  warnx("[posix-uORB::Manager::process_remove_subscription(%d)] Enter: name: %s",
+          __LINE__, messageName.c_str() );
+  int16_t rc = -1;
+  _remote_subscriber_topics.erase( messageName );
+  char nodepath[orb_maxpath];
+  int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName );
+  if (ret == OK) {
+    uORB::DeviceNode* node = uORB::DeviceMaster::GetDeviceNode( nodepath );
+    // get the node name.
+    if ( node == nullptr) {
+      warnx("[posix-uORB::Manager::process_remove_subscription(%d)]Error No existing subscriber found for message: [%s]",
+              __LINE__, messageName.c_str());
+    } else {
+      // node is present.
+      node->process_remove_subscription();
+      rc = 0;
+    }
+  }
+  return rc;
+}
+
+//-----------------------------------------------------------------------------
+//-----------------------------------------------------------------------------
+int16_t uORB::Manager::process_received_message(const std::string& messageName,
+                                                int32_t length, uint8_t* data)
+{
+  //warnx("[uORB::Manager::process_received_message(%d)] Enter name: %s", __LINE__, messageName.c_str() );
+
+  int16_t rc = -1;
+  char nodepath[orb_maxpath];
+  int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName );
+  if (ret == OK) {
+    uORB::DeviceNode* node = uORB::DeviceMaster::GetDeviceNode( nodepath );
+    // get the node name.
+    if ( node == nullptr) {
+      warnx("[uORB::Manager::process_received_message(%d)]Error No existing subscriber found for message: [%s] nodepath:[%s]",
+              __LINE__, messageName.c_str(), nodepath );
+
+    } else {
+      // node is present.
+      node->process_received_message( length, data );
+      rc = 0;
+    }
+  }
+  return rc;
+}
+
+bool uORB::Manager::is_remote_subscriber_present( const std::string& messageName )
+{
+  return ( _remote_subscriber_topics.find( messageName ) != _remote_subscriber_topics.end() );
+}