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uORB add ORB_COMMUNICATOR define to enable remote uORB

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This commit is contained in:
Daniel Agar
2018-07-01 11:32:07 -04:00
committed by Lorenz Meier
parent 6579b7254a
commit 8599495082
15 changed files with 81 additions and 91 deletions
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src/modules/uORB/uORBDevices.cpp
+33 -40
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@@ -63,7 +63,11 @@
#include "uORBDevices.hpp"
#include "uORBUtils.hpp"
#include "uORBManager.hpp"
#ifdef ORB_COMMUNICATOR
#include "uORBCommunicator.hpp"
#endif /* ORB_COMMUNICATOR */
#include <px4_sem.hpp>
#include <stdlib.h>
@@ -85,14 +89,8 @@ uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name,
int priority, unsigned int queue_size) :
CDev(name, path),
_meta(meta),
_data(nullptr),
_last_update(0),
_generation(0),
_priority((uint8_t)priority),
_published(false),
_queue_size(queue_size),
_subscriber_count(0),
_publisher(0)
_queue_size(queue_size)
{
}
@@ -163,7 +161,9 @@ uORB::DeviceNode::open(device::file_t *filp)
ret = CDev::open(filp);
#ifdef ORB_COMMUNICATOR
add_internal_subscriber();
#endif /* ORB_COMMUNICATOR */
if (ret != PX4_OK) {
PX4_ERR("CDev::open failed");
@@ -196,7 +196,10 @@ uORB::DeviceNode::close(device::file_t *filp)
hrt_cancel(&sd->update_interval->update_call);
}
#ifdef ORB_COMMUNICATOR
remove_internal_subscriber();
#endif /* ORB_COMMUNICATOR */
delete sd;
sd = nullptr;
}
@@ -454,6 +457,7 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
return PX4_ERROR;
}
#ifdef ORB_COMMUNICATOR
/*
* if the write is successful, send the data over the Multi-ORB link
*/
@@ -466,6 +470,8 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
}
}
#endif /* ORB_COMMUNICATOR */
return PX4_OK;
}
@@ -493,6 +499,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
return PX4_OK;
}
#ifdef ORB_COMMUNICATOR
int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, int priority)
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
@@ -503,6 +510,7 @@ int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, int priorit
return -1;
}
/*
//TODO: Check if we need this since we only unadvertise when things all shutdown and it doesn't actually remove the device
int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, int priority)
@@ -514,6 +522,7 @@ int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, int prior
return -1;
}
*/
#endif /* ORB_COMMUNICATOR */
pollevent_t
uORB::DeviceNode::poll_state(device::file_t *filp)
@@ -728,8 +737,7 @@ uORB::DeviceNode::print_statistics(bool reset)
return true;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#ifdef ORB_COMMUNICATOR
void uORB::DeviceNode::add_internal_subscriber()
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
@@ -746,8 +754,6 @@ void uORB::DeviceNode::add_internal_subscriber()
}
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
void uORB::DeviceNode::remove_internal_subscriber()
{
uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
@@ -764,31 +770,6 @@ void uORB::DeviceNode::remove_internal_subscriber()
}
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
bool uORB::DeviceNode::is_published()
{
return _published;
}
int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
{
if (_queue_size == queue_size) {
return PX4_OK;
}
//queue size is limited to 255 for the single reason that we use uint8 to store it
if (_data || _queue_size > queue_size || queue_size > 255) {
return PX4_ERROR;
}
_queue_size = queue_size;
return PX4_OK;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
{
// if there is already data in the node, send this out to
@@ -803,15 +784,11 @@ int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
return PX4_OK;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::DeviceNode::process_remove_subscription()
{
return PX4_OK;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data)
{
int16_t ret = -1;
@@ -835,6 +812,22 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
return PX4_OK;
}
#endif /* ORB_COMMUNICATOR */
int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
{
if (_queue_size == queue_size) {
return PX4_OK;
}
//queue size is limited to 255 for the single reason that we use uint8 to store it
if (_data || _queue_size > queue_size || queue_size > 255) {
return PX4_ERROR;
}
_queue_size = queue_size;
return PX4_OK;
}
uORB::DeviceMaster::DeviceMaster() :
CDev("obj_master", TOPIC_MASTER_DEVICE_PATH)