mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 07:53:34 +08:00
events: Move implementation of events::send() to lib/events
Events have a global, system-wide sequence number, which must be handled atomically, (fetching and incrementing the sequence AND sending the event to uORB must be atomic). Currently in FLAT mode, only one instance of this sequence number exists, so it is OK to have it in px4_platform. However, in PROTECTED mode px4_platform is instantiated both in kernel- and user spaces, which makes two instances of this sequence number, which causes problems in the mavlink event handling logic. When mavlink receives and handles events, it expects that: - The sequence numbers arrive in order (seq n is followed by n+1 etc) - It increments by 1 - There is only one instance of the sequence number In PROTECTED mode this is violated, as the kernel and user sequence numbers run freely on their own. This patch fixes the issue by moving the event backend to the kernel and by providing user access to it via ioctl.
This commit is contained in:
Ville Juven
@@ -110,3 +110,13 @@ add_custom_command(OUTPUT ${generated_events_header}
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)
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add_custom_target(events_header DEPENDS ${generated_events_header})
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add_dependencies(prebuild_targets events_header)
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# Build the interface(s)
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if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
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list(APPEND EXTRA_SRCS events_ioctl.cpp)
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add_library(usr_events usr_events.cpp)
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add_dependencies(usr_events prebuild_targets)
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endif()
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add_library(events events.cpp ${EXTRA_SRCS})
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add_dependencies(events prebuild_targets)
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@@ -0,0 +1,70 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <pthread.h>
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/events.h>
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#include <uORB/uORB.h>
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static orb_advert_t orb_event_pub = nullptr;
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static pthread_mutex_t publish_event_mutex = PTHREAD_MUTEX_INITIALIZER;
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static uint16_t event_sequence{events::initial_event_sequence};
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namespace events
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{
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void send(EventType &event)
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{
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event.timestamp = hrt_absolute_time();
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// We need some synchronization here because:
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// - modifying orb_event_pub
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// - the update of event_sequence needs to be atomic
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// - we need to ensure ordering of the sequence numbers: the sequence we set here
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// has to be the one published next.
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pthread_mutex_lock(&publish_event_mutex);
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event.event_sequence = ++event_sequence; // Set the sequence here so we're able to detect uORB queue overflows
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if (orb_event_pub != nullptr) {
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orb_publish(ORB_ID(event), orb_event_pub, &event);
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} else {
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orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH);
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}
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pthread_mutex_unlock(&publish_event_mutex);
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}
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} /* namespace events */
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@@ -0,0 +1,36 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 Technology Innovation Institute. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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void events_ioctl_init(void);
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@@ -0,0 +1,68 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 Technology Innovation Institute. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file events_ioctl.cpp
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*
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* Interface to send events from user space.
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*/
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#include <px4_platform/board_ctrl.h>
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#include <errno.h>
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#include "events_ioctl.h"
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static int events_ioctl(unsigned int cmd, unsigned long arg)
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{
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int ret = OK;
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switch (cmd) {
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case EVENTSIOCSEND: {
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eventiocsend_t *data = (eventiocsend_t *)arg;
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events::send(data->event);
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}
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break;
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default:
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ret = -ENOTTY;
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break;
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}
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return ret;
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}
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void events_ioctl_init(void)
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{
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px4_register_boardct_ioctl(_EVENTSIOCBASE, events_ioctl);
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}
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@@ -0,0 +1,51 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 Technology Innovation Institute. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file events_ioctl.h
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*
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* User space - kernel space interface for dispatching events.
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*/
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#pragma once
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#include <px4_platform/board_ctrl.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/events.h>
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#define _EVENTSIOC(_n) (_PX4_IOC(_EVENTSIOCBASE, _n))
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#define EVENTSIOCSEND _EVENTSIOC(1)
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typedef struct eventiocsend {
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events::EventType &event;
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} eventiocsend_t;
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@@ -0,0 +1,53 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 Technology Innovation Institute. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file usr_events.cpp
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*
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* User space interface for dispatching events.
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*/
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#include <sys/boardctl.h>
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#include "events_ioctl.h"
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namespace events
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{
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void send(EventType &event)
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{
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eventiocsend_t data = {event};
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boardctl(EVENTSIOCSEND, reinterpret_cast<unsigned long>(&data));
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}
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} /* namespace events */
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