fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 03:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

uorb autogeneration

Browse Source
This commit is contained in:
Daniel Agar
2016-05-14 11:27:07 +02:00
committed by Lorenz Meier
parent 3aa2297497
commit 76387b1693
113 changed files with 897 additions and 593 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/bottle_drop/bottle_drop.cpp
-4
View File
@@ -57,10 +57,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_global_position.h>
src/modules/commander/commander.cpp
-4
View File
@@ -81,10 +81,6 @@
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h>
src/modules/fw_att_control/fw_att_control_main.cpp
-2
View File
@@ -62,8 +62,6 @@
#include <uORB/topics/fw_virtual_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_virtual_fw.h>
#include <uORB/topics/actuator_controls_virtual_mc.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
src/modules/mavlink/mavlink_parameters.cpp
-2
View File
@@ -47,8 +47,6 @@
#include "mavlink_parameters.h"
#include "mavlink_main.h"
ORB_DEFINE(uavcan_parameter_request, struct uavcan_parameter_request_s);
ORB_DEFINE(uavcan_parameter_value, struct uavcan_parameter_value_s);
#define HASH_PARAM "_HASH_CHECK"
MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
src/modules/mc_att_control/mc_att_control_main.cpp
-2
View File
@@ -70,8 +70,6 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_virtual_fw.h>
#include <uORB/topics/actuator_controls_virtual_mc.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
src/modules/position_estimator_inav/position_estimator_inav_main.cpp
-4
View File
@@ -52,10 +52,6 @@
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
src/modules/sdlog2/sdlog2.c
-4
View File
@@ -78,10 +78,6 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position.h>
src/modules/systemlib/param/param.c
-3
View File
@@ -136,9 +136,6 @@ UT_array *param_values;
/** array info for the modified parameters array */
const UT_icd param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
/** parameter update topic */
ORB_DEFINE(parameter_update, struct parameter_update_s);
/** parameter update topic handle */
static orb_advert_t param_topic = NULL;
src/modules/systemlib/param/param_shmem.c
-3
View File
@@ -158,9 +158,6 @@ UT_array *param_values;
/** array info for the modified parameters array */
const UT_icd param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
/** parameter update topic */
ORB_DEFINE(parameter_update, struct parameter_update_s);
/** parameter update topic handle */
static orb_advert_t param_topic = NULL;
src/modules/uORB/CMakeLists.txt
+2 -1
View File
@@ -36,8 +36,9 @@ include_directories(
${CMAKE_CURRENT_BINARY_DIR}
)
link_libraries(msg_gen)
set(SRCS
objects_common.cpp
uORBUtils.cpp
uORB.cpp
uORBMain.cpp
src/modules/uORB/Subscription.cpp
+6
View File
@@ -144,6 +144,12 @@ void Subscription<T>::update()
SubscriptionBase::update((void *)(&_data));
}
template <class T>
bool Subscription<T>::check_updated()
{
return SubscriptionBase::updated();
}
template <class T>
const T &Subscription<T>::get() { return _data; }
src/modules/uORB/Subscription.hpp
+4
View File
@@ -185,6 +185,10 @@ public:
*/
void update();
/**
* Create an update function that uses the embedded struct.
*/
bool check_updated();
/*
* This function gets the T struct data
* */
src/modules/uORB/objects_common.cpp
-305
View File
@@ -1,305 +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.
*
****************************************************************************/
/**
* @file objects_common.cpp
*
* Common object definitions without a better home.
*/
/**
* @defgroup topics List of all uORB topics.
*/
#include <px4_config.h>
#include <drivers/drv_orb_dev.h>
#include "topics/sensor_mag.h"
ORB_DEFINE(sensor_mag, struct sensor_mag_s);
#include "topics/sensor_accel.h"
ORB_DEFINE(sensor_accel, struct sensor_accel_s);
#include "topics/sensor_gyro.h"
ORB_DEFINE(sensor_gyro, struct sensor_gyro_s);
#include "topics/sensor_baro.h"
ORB_DEFINE(sensor_baro, struct sensor_baro_s);
#include "topics/output_pwm.h"
ORB_DEFINE(output_pwm, struct output_pwm_s);
#include "topics/input_rc.h"
ORB_DEFINE(input_rc, struct input_rc_s);
#include "topics/pwm_input.h"
ORB_DEFINE(pwm_input, struct pwm_input_s);
#include "topics/vehicle_attitude.h"
ORB_DEFINE(vehicle_attitude, struct vehicle_attitude_s);
#include "topics/control_state.h"
ORB_DEFINE(control_state, struct control_state_s);
#include "topics/sensor_combined.h"
ORB_DEFINE(sensor_combined, struct sensor_combined_s);
#include "topics/hil_sensor.h"
ORB_DEFINE(hil_sensor, struct hil_sensor_s);
#include "topics/vehicle_gps_position.h"
ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
#include "topics/vehicle_land_detected.h"
ORB_DEFINE(vehicle_land_detected, struct vehicle_land_detected_s);
#include "topics/satellite_info.h"
ORB_DEFINE(satellite_info, struct satellite_info_s);
#include "topics/home_position.h"
ORB_DEFINE(home_position, struct home_position_s);
#include "topics/vehicle_status.h"
ORB_DEFINE(vehicle_status, struct vehicle_status_s);
#include "topics/vtol_vehicle_status.h"
ORB_DEFINE(vtol_vehicle_status, struct vtol_vehicle_status_s);
#include "topics/safety.h"
ORB_DEFINE(safety, struct safety_s);
#include "topics/battery_status.h"
ORB_DEFINE(battery_status, struct battery_status_s);
#include "topics/servorail_status.h"
ORB_DEFINE(servorail_status, struct servorail_status_s);
#include "topics/system_power.h"
ORB_DEFINE(system_power, struct system_power_s);
#include "topics/vehicle_global_position.h"
ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
#include "topics/vehicle_local_position.h"
ORB_DEFINE(vehicle_local_position, struct vehicle_local_position_s);
#include "topics/att_pos_mocap.h"
ORB_DEFINE(att_pos_mocap, struct att_pos_mocap_s);
#include "topics/vehicle_rates_setpoint.h"
ORB_DEFINE(vehicle_rates_setpoint, struct vehicle_rates_setpoint_s);
#include "topics/mc_virtual_rates_setpoint.h"
ORB_DEFINE(mc_virtual_rates_setpoint, struct mc_virtual_rates_setpoint_s);
#include "topics/fw_virtual_rates_setpoint.h"
ORB_DEFINE(fw_virtual_rates_setpoint, struct fw_virtual_rates_setpoint_s);
#include "topics/rc_channels.h"
ORB_DEFINE(rc_channels, struct rc_channels_s);
#include "topics/vehicle_command.h"
ORB_DEFINE(vehicle_command, struct vehicle_command_s);
#include "topics/vehicle_control_mode.h"
ORB_DEFINE(vehicle_control_mode, struct vehicle_control_mode_s);
#include "topics/vehicle_local_position_setpoint.h"
ORB_DEFINE(vehicle_local_position_setpoint, struct vehicle_local_position_setpoint_s);
#include "topics/position_setpoint_triplet.h"
ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
#include "topics/vehicle_global_velocity_setpoint.h"
ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
#include "topics/mission.h"
ORB_DEFINE(mission, struct mission_s);
// XXX onboard and offboard mission are still declared here until this is
// generator supported
#include <navigator/navigation.h>
ORB_DEFINE(offboard_mission, struct mission_s);
ORB_DEFINE(onboard_mission, struct mission_s);
#include "topics/mission_result.h"
ORB_DEFINE(mission_result, struct mission_result_s);
#include "topics/geofence_result.h"
ORB_DEFINE(geofence_result, struct geofence_result_s);
#include "topics/fence.h"
ORB_DEFINE(fence, struct fence_s);
#include "topics/fence_vertex.h"
ORB_DEFINE(fence_vertex, struct fence_vertex_s);
#include "topics/vehicle_attitude_setpoint.h"
ORB_DEFINE(vehicle_attitude_setpoint, struct vehicle_attitude_setpoint_s);
#include "topics/mc_virtual_attitude_setpoint.h"
ORB_DEFINE(mc_virtual_attitude_setpoint, struct mc_virtual_attitude_setpoint_s);
#include "topics/fw_virtual_attitude_setpoint.h"
ORB_DEFINE(fw_virtual_attitude_setpoint, struct fw_virtual_attitude_setpoint_s);
#include "topics/manual_control_setpoint.h"
ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
#include "topics/offboard_control_mode.h"
ORB_DEFINE(offboard_control_mode, struct offboard_control_mode_s);
#include "topics/optical_flow.h"
ORB_DEFINE(optical_flow, struct optical_flow_s);
#include "topics/filtered_bottom_flow.h"
ORB_DEFINE(filtered_bottom_flow, struct filtered_bottom_flow_s);
#include "topics/airspeed.h"
ORB_DEFINE(airspeed, struct airspeed_s);
#include "topics/differential_pressure.h"
ORB_DEFINE(differential_pressure, struct differential_pressure_s);
#include "topics/subsystem_info.h"
ORB_DEFINE(subsystem_info, struct subsystem_info_s);
/* actuator controls, as requested by controller */
#include "topics/actuator_controls.h"
#include "topics/actuator_controls_0.h"
ORB_DEFINE(actuator_controls_0, struct actuator_controls_0_s);
#include "topics/actuator_controls_1.h"
ORB_DEFINE(actuator_controls_1, struct actuator_controls_1_s);
#include "topics/actuator_controls_2.h"
ORB_DEFINE(actuator_controls_2, struct actuator_controls_2_s);
#include "topics/actuator_controls_3.h"
ORB_DEFINE(actuator_controls_3, struct actuator_controls_3_s);
//Virtual control groups, used for VTOL operation
#include "topics/actuator_controls_virtual_mc.h"
ORB_DEFINE(actuator_controls_virtual_mc, struct actuator_controls_virtual_mc_s);
#include "topics/actuator_controls_virtual_fw.h"
ORB_DEFINE(actuator_controls_virtual_fw, struct actuator_controls_virtual_fw_s);
#include "topics/actuator_armed.h"
ORB_DEFINE(actuator_armed, struct actuator_armed_s);
#include "topics/actuator_outputs.h"
ORB_DEFINE(actuator_outputs, struct actuator_outputs_s);
#include "topics/actuator_direct.h"
ORB_DEFINE(actuator_direct, struct actuator_direct_s);
#include "topics/multirotor_motor_limits.h"
ORB_DEFINE(multirotor_motor_limits, struct multirotor_motor_limits_s);
#include "topics/telemetry_status.h"
ORB_DEFINE(telemetry_status, struct telemetry_status_s);
#include "topics/test_motor.h"
ORB_DEFINE(test_motor, struct test_motor_s);
#include "topics/debug_key_value.h"
ORB_DEFINE(debug_key_value, struct debug_key_value_s);
#include "topics/fw_pos_ctrl_status.h"
ORB_DEFINE(fw_pos_ctrl_status, struct fw_pos_ctrl_status_s);
#include "topics/esc_status.h"
ORB_DEFINE(esc_status, struct esc_status_s);
#include "topics/esc_report.h"
ORB_DEFINE(esc_report, struct esc_report_s);
#include "topics/encoders.h"
ORB_DEFINE(encoders, struct encoders_s);
#include "topics/estimator_status.h"
ORB_DEFINE(estimator_status, struct estimator_status_s);
#include "topics/vision_position_estimate.h"
ORB_DEFINE(vision_position_estimate, struct vision_position_estimate_s);
#include "topics/vehicle_force_setpoint.h"
ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s);
#include "topics/tecs_status.h"
ORB_DEFINE(tecs_status, struct tecs_status_s);
#include "topics/wind_estimate.h"
ORB_DEFINE(wind_estimate, struct wind_estimate_s);
#include "topics/rc_parameter_map.h"
ORB_DEFINE(rc_parameter_map, struct rc_parameter_map_s);
#include "topics/time_offset.h"
ORB_DEFINE(time_offset, struct time_offset_s);
#include "topics/mc_att_ctrl_status.h"
ORB_DEFINE(mc_att_ctrl_status, struct mc_att_ctrl_status_s);
#include "topics/distance_sensor.h"
ORB_DEFINE(distance_sensor, struct distance_sensor_s);
#include "topics/camera_trigger.h"
ORB_DEFINE(camera_trigger, struct camera_trigger_s);
#include "topics/vehicle_command_ack.h"
ORB_DEFINE(vehicle_command_ack, struct vehicle_command_ack_s);
#include "topics/ekf2_innovations.h"
ORB_DEFINE(ekf2_innovations, struct ekf2_innovations_s);
#include "topics/ekf2_replay.h"
ORB_DEFINE(ekf2_replay, struct ekf2_replay_s);
#include "topics/qshell_req.h"
ORB_DEFINE(qshell_req, struct qshell_req_s);
#include "topics/mavlink_log.h"
ORB_DEFINE(mavlink_log, struct mavlink_log_s);
#include "topics/follow_target.h"
ORB_DEFINE(follow_target, struct follow_target_s);
#include "topics/commander_state.h"
ORB_DEFINE(commander_state, struct commander_state_s);
#include "topics/transponder_report.h"
ORB_DEFINE(transponder_report, struct transponder_report_s);
#include "topics/gps_inject_data.h"
ORB_DEFINE(gps_inject_data, struct gps_inject_data_s);
#include "topics/adc_report.h"
ORB_DEFINE(adc_report, struct adc_report_s);
#include "topics/cpuload.h"
ORB_DEFINE(cpuload, struct cpuload_s);
src/modules/uORB/uORB.h
+5 -2
View File
@@ -52,6 +52,7 @@
struct orb_metadata {
const char *o_name; /**< unique object name */
const size_t o_size; /**< object size */
const char *o_fields; /**< semicolon separated list of fields */
};
typedef const struct orb_metadata *orb_id_t;
@@ -110,11 +111,13 @@ enum ORB_PRIO {
*
* @param _name The name of the topic.
* @param _struct The structure the topic provides.
* @param _fields All fields in a semicolon separated list e.g: "float[3] position;bool armed"
*/
#define ORB_DEFINE(_name, _struct) \
#define ORB_DEFINE(_name, _struct, _fields) \
const struct orb_metadata __orb_##_name = { \
#_name, \
sizeof(_struct) \
sizeof(_struct), \
_fields \
}; struct hack
__BEGIN_DECLS
src/modules/uORB/uORBTopics.h
+50
View File
@@ -0,0 +1,50 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 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.
*
****************************************************************************/
#ifndef MODULES_UORB_UORBTOPICS_H_
#define MODULES_UORB_UORBTOPICS_H_
#include <uORB/uORB.h>
/*
* Returns count of all declared topics.
* It is equal to size of array from orb_get_topics()
*/
extern size_t orb_topics_count() __EXPORT;
/*
* Returns array of topics metadata
*/
extern const struct orb_metadata **orb_get_topics() __EXPORT;
#endif /* MODULES_UORB_UORBTOPICS_H_ */
src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
+8 -5
View File
@@ -41,23 +41,26 @@ struct orb_test {
int val;
hrt_abstime time;
};
ORB_DEFINE(orb_test, struct orb_test);
ORB_DEFINE(orb_multitest, struct orb_test);
ORB_DEFINE(orb_test, struct orb_test, "ORB_TEST:int val;hrt_abstime time;");
ORB_DEFINE(orb_multitest, struct orb_test, "ORB_MULTITEST:int val;hrt_abstime time;");
struct orb_test_medium {
int val;
hrt_abstime time;
char junk[64];
};
ORB_DEFINE(orb_test_medium, struct orb_test_medium);
ORB_DEFINE(orb_test_medium_multi, struct orb_test_medium);
ORB_DEFINE(orb_test_medium, struct orb_test_medium, "ORB_TEST_MEDIUM:int val;hrt_abstime time;char[64] junk;");
ORB_DEFINE(orb_test_medium_multi, struct orb_test_medium,
"ORB_TEST_MEDIUM_MULTI:int val;hrt_abstime time;char[64] junk;");
struct orb_test_large {
int val;
hrt_abstime time;
char junk[512];
};
ORB_DEFINE(orb_test_large, struct orb_test_large);
ORB_DEFINE(orb_test_large, struct orb_test_large, "ORB_TEST_LARGE:int val;hrt_abstime time;char[512] junk;");
namespace uORBTest
src/modules/vtol_att_control/vtol_att_control_main.h
-2
View File
@@ -69,8 +69,6 @@
#include <uORB/topics/fw_virtual_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_virtual_mc.h>
#include <uORB/topics/actuator_controls_virtual_fw.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>