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Merge branch 'main' into pr-boards_serial_rc

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This commit is contained in:
Ramon Roche
2025-07-21 12:32:24 -07:00
committed by GitHub
parent d9039b0cf6 8dd14d9aaa
commit 8575199bc7
6419 changed files with 609408 additions and 20370 deletions
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platforms/common/include/px4_platform_common/defines.h
+1 -1
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@@ -97,7 +97,7 @@ __BEGIN_DECLS
extern long PX4_TICKS_PER_SEC;
__END_DECLS
#define PX4_ROOTFSDIR CONFIG_BOARD_ROOTFSDIR
#define PX4_ROOTFSDIR CONFIG_BOARD_ROOT_PATH
// Qurt doesn't have an SD card for storage
#ifndef __PX4_QURT
platforms/common/include/px4_platform_common/log.h
+16 -16
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@@ -70,33 +70,33 @@ __END_DECLS
/****************************************************************************
* Messages that should never be filtered or compiled out
****************************************************************************/
#define PX4_INFO(FMT, ...) qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_INFO(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_INFO, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_INFO_RAW(FMT, ...) qurt_log_raw(FMT, ##__VA_ARGS__)
#if defined(TRACE_BUILD)
/****************************************************************************
* Extremely Verbose settings for a Trace build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_PANIC, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_ERROR, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_WARN, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_DEBUG, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(DEBUG_BUILD)
/****************************************************************************
* Verbose settings for a Debug build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_PANIC, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_ERROR, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_WARN, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_DEBUG, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(RELEASE_BUILD)
/****************************************************************************
* Non-verbose settings for a Release build to minimize strings in build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_PANIC, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_ERROR, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
@@ -104,14 +104,14 @@ __END_DECLS
/****************************************************************************
* Medium verbose settings for a default build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_PANIC(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_PANIC, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_ERROR, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log_module(_PX4_LOG_LEVEL_WARN, MODULE_NAME, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#endif
#define PX4_LOG_NAMED(name, FMT, ...) qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED(name, FMT, ...) qurt_log_module( _PX4_LOG_LEVEL_INFO, MODULE_NAME, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log_module( _PX4_LOG_LEVEL_INFO, MODULE_NAME, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#else
platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
+1 -1
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@@ -89,7 +89,7 @@ static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};
static constexpr wq_config_t lp_default{"wq:lp_default", 2350, -50};
static constexpr wq_config_t lp_default{"wq:lp_default", 3500, -50};
static constexpr wq_config_t test1{"wq:test1", 2000, 0};
static constexpr wq_config_t test2{"wq:test2", 2000, 0};
platforms/common/pab_manifest.c
+2 -1
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@@ -404,7 +404,7 @@ static const px4_hw_mft_item_t base_configuration_18[] = {
// BASE ID 0x100 Holybro Pixhawk Jetson Baseboard Alaised to ID 0
// BASE ID 0x150 ZeroOne Pixhawk Baseboard Alaised to ID 0
// BASE ID 0x200 AmovLab Pixhawk Baseboard Alaised to ID 0
static px4_hw_mft_list_entry_t mft_lists[] = {
// ver_rev
{HW_BASE_ID(0), base_configuration_0, arraySize(base_configuration_0)}, // std Base with PX4IO
@@ -421,6 +421,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
{HW_BASE_ID(18), base_configuration_18, arraySize(base_configuration_18)}, // Auterion Skynode S ver 18
{HW_BASE_ID(0x100), base_configuration_0, arraySize(base_configuration_0)}, // Holybro Pixhawk Jetson Baseboard ver 0x100 Alaised to ID 0
{HW_BASE_ID(0x150), base_configuration_0, arraySize(base_configuration_0)}, // ZeroOne Pixhawk Baseboard ver 0x150
{HW_BASE_ID(0x200), base_configuration_0, arraySize(base_configuration_0)}, // AmovLab Pixhawk Baseboard ver 0x150
};
/************************************************************************************
platforms/common/uORB/CMakeLists.txt
+3 -1
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@@ -112,4 +112,6 @@ if(PX4_TESTING)
add_subdirectory(uORB_tests)
endif()
px4_add_functional_gtest(SRC uORBMessageFieldsTest.cpp LINKLIBS uORB)
if(PX4_TESTING)
add_subdirectory(test)
endif()
platforms/common/uORB/Subscription.hpp
+10 -18
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@@ -118,16 +118,8 @@ public:
bool valid() const { return _node != nullptr; }
bool advertised()
{
if (valid()) {
return Manager::is_advertised(_node);
}
// try to initialize
if (subscribe()) {
// check again if valid
if (valid()) {
return Manager::is_advertised(_node);
}
return Manager::is_advertised(_node);
}
return false;
@@ -138,11 +130,11 @@ public:
*/
bool updated()
{
if (!valid()) {
subscribe();
if (subscribe()) {
return Manager::updates_available(_node, _last_generation);
}
return valid() ? Manager::updates_available(_node, _last_generation) : false;
return false;
}
/**
@@ -151,11 +143,11 @@ public:
*/
bool update(void *dst)
{
if (!valid()) {
subscribe();
if (subscribe()) {
return Manager::orb_data_copy(_node, dst, _last_generation, true);
}
return valid() ? Manager::orb_data_copy(_node, dst, _last_generation, true) : false;
return false;
}
/**
@@ -164,11 +156,11 @@ public:
*/
bool copy(void *dst)
{
if (!valid()) {
subscribe();
if (subscribe()) {
return Manager::orb_data_copy(_node, dst, _last_generation, false);
}
return valid() ? Manager::orb_data_copy(_node, dst, _last_generation, false) : false;
return false;
}
/**
platforms/common/uORB/test/CMakeLists.txt
+36
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@@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2019-2024 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_functional_gtest(SRC uORBMessageFieldsTest.cpp LINKLIBS uORB)
px4_add_functional_gtest(SRC uORBSubscriptionTest.cpp LINKLIBS uORB)
platforms/common/uORB/uORBMessageFieldsTest.cpp → platforms/common/uORB/test/uORBMessageFieldsTest.cpp
+1 -1
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@@ -31,7 +31,7 @@
*
****************************************************************************/
#include "uORBMessageFields.hpp"
#include <uORB/uORBMessageFields.hpp>
#include <gtest/gtest.h>
#include <containers/Bitset.hpp>
platforms/common/uORB/test/uORBSubscriptionTest.cpp
+114
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@@ -0,0 +1,114 @@
/****************************************************************************
*
* Copyright (c) 2019-2024 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.
*
****************************************************************************/
/**
* Test for Subscription
*/
#include <gtest/gtest.h>
#include <uORB/Subscription.hpp>
#include <uORB/uORB.h>
#include <uORB/topics/orb_test.h>
namespace uORB
{
namespace test
{
class uORBSubscriptionTestable : public uORB::Subscription
{
public:
uORBSubscriptionTestable() : Subscription(ORB_ID(orb_test), 0)
{
}
void setNodeValue(void *node)
{
_node = node;
}
void *getNodeValue()
{
return _node;
}
};
class uORBSubscriptionTest : public ::testing::Test
{
protected:
uORBSubscriptionTestable testable;
static void SetUpTestSuite()
{
uORB::Manager::initialize();
orb_test_s message{};
orb_advertise(ORB_ID(orb_test), &message);
}
static void TearDownTestSuite()
{
uORB::Manager::terminate();
}
void TearDown() override
{
testable.setNodeValue(nullptr);
}
};
TEST_F(uORBSubscriptionTest, updateWhenSubscribedThenNotSubscribedTwice)
{
int anyValue = 1;
testable.setNodeValue(&anyValue);
testable.updated();
ASSERT_EQ(testable.getNodeValue(), &anyValue) << "Original node value don't have to be overrwiten";
}
TEST_F(uORBSubscriptionTest, updateWhenNotSubscribedThenSubscribed)
{
testable.setNodeValue(nullptr);
testable.updated();
ASSERT_NE(testable.getNodeValue(), nullptr) << "Node value after 'updated' have to be initialized";
}
}
}