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>
2026-10-19 22:23:33 +08:00 · 2015-06-08 22:21:59 -07:00
parent 99c066c39c
commit 6cb26de74c
52 changed files with 3387 additions and 86 deletions
@@ -0,0 +1,133 @@
+//=============================================================================
+// File: uORB_test.cpp
+//
+//  @@-COPYRIGHT-START-@@
+//
+// Copyright 2014 Qualcomm Technologies, Inc. All rights reserved.
+// Confidential & Proprietary - Qualcomm Technologies, Inc. ("QTI")
+//
+// The party receiving this software directly from QTI (the "Recipient")
+// may use this software as reasonably necessary solely for the purposes
+// set forth in the agreement between the Recipient and QTI (the
+// "Agreement"). The software may be used in source code form solely by
+// the Recipient's employees (if any) authorized by the Agreement. Unless
+// expressly authorized in the Agreement, the Recipient may not sublicense,
+// assign, transfer or otherwise provide the source code to any third
+// party. Qualcomm Technologies, Inc. retains all ownership rights in and
+// to the software
+//
+// This notice supersedes any other QTI notices contained within the software
+// except copyright notices indicating different years of publication for
+// different portions of the software. This notice does not supersede the
+// application of any third party copyright notice to that third party's
+// code.
+//
+//  @@-COPYRIGHT-END-@@
+//
+//=============================================================================
+
+#include "uORBCommunicatorMockLoopback.hpp"
+#include "uORB/uORB.h"
+#include "uORBGtestTopics.hpp"
+#include "uORBManager.hpp"
+#include <string.h>
+#include "px4_log.h"
+
+#define LOG_TAG "uORBCommunicatorMockLoopback.cpp"
+
+
+uORB_test::uORBCommunicatorMockLoopback::uORBCommunicatorMockLoopback()
+: _rx_handler( nullptr )
+{
+  //_sub_topicA_clone_fd = orb_subscribe( ORB_ID( topicA_clone ), (void*)&_sub_semaphore );
+  //_sub_topicB_clone_fd = orb_subscribe( ORB_ID( topicB_clone ), nullptr );
+
+  _topic_translation_map[ "topicA" ] = "topicA_clone";
+  _topic_translation_map[ "topicB" ] = "topicB_clone";
+  _topic_translation_map[ "topicA_clone" ] = "topicA";
+  _topic_translation_map[ "topicB_clone" ] = "topicB";
+}
+
+int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription
+(
+    const std::string& messageName,
+    int32_t msgRateInHz
+)
+{
+
+  int16_t rc = -1;
+  PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName.c_str(), msgRateInHz );
+
+  if( _rx_handler )
+  {
+    if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
+    {
+       rc = _rx_handler->process_add_subscription
+           (
+              _topic_translation_map[messageName],
+              msgRateInHz
+           );
+    }
+  }
+  return rc;
+}
+
+int16_t uORB_test::uORBCommunicatorMockLoopback::remove_subscription
+(
+    const std::string& messageName
+)
+{
+  int16_t rc = -1;
+  PX4_INFO( "got remove_subscription for msg[%s]", messageName.c_str() );
+  if( _rx_handler )
+  {
+    if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
+    {
+       rc = _rx_handler->process_remove_subscription
+           (
+              _topic_translation_map[messageName]
+           );
+    }
+  }
+  return rc;
+}
+
+int16_t uORB_test::uORBCommunicatorMockLoopback::register_handler
+(
+    uORBCommunicator::IChannelRxHandler* handler
+)
+{
+  int16_t rc = 0;
+  _rx_handler = handler;
+  return rc;
+}
+
+
+int16_t uORB_test::uORBCommunicatorMockLoopback::send_message
+(
+    const std::string& messageName,
+    int32_t length,
+    uint8_t* data
+)
+{
+  int16_t rc = -1;
+  PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName.c_str(), length );
+  if( _rx_handler )
+  {
+    if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
+    {
+      if( uORB::Manager::get_instance()->is_remote_subscriber_present( _topic_translation_map[messageName] ) )
+      {
+        rc = _rx_handler->process_received_message
+            ( _topic_translation_map[messageName], length, data );
+        PX4_INFO( "[uORBCommunicatorMockLoopback::send_message] return from[topic(%s)] _rx_handler->process_received_message[%d]", messageName.c_str(), rc );
+      }
+      else
+      {
+        // this is eqvuilanet of not sending the message to the remote.
+        rc = 0;
+      }
+    }
+  }
+  return rc;
+}