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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/uORBManager.cpp
+12 -23
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@@ -36,12 +36,13 @@
#include <stdarg.h>
#include <fcntl.h>
#include <errno.h>
#include <px4_config.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include "uORBUtils.hpp"
#include "uORBManager.hpp"
#include "px4_config.h"
#include "uORBDevices.hpp"
@@ -62,10 +63,7 @@ bool uORB::Manager::initialize()
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
uORB::Manager::Manager()
: _comm_channel(nullptr)
{
_device_master = nullptr;
#ifdef ORB_USE_PUBLISHER_RULES
const char *file_name = "./rootfs/orb_publisher.rules";
int ret = readPublisherRulesFromFile(file_name, _publisher_rule);
@@ -131,10 +129,14 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
#else
ret = px4_access(path, F_OK);
#ifdef ORB_COMMUNICATOR
if (ret == -1 && meta != nullptr && !_remote_topics.empty()) {
ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : PX4_ERROR;
}
#endif /* ORB_COMMUNICATOR */
#endif
if (ret == 0) {
@@ -215,8 +217,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
return nullptr;
}
//For remote systems call over and inform them
#ifdef ORB_COMMUNICATOR
// For remote systems call over and inform them
uORB::DeviceNode::topic_advertised(meta, priority);
#endif /* ORB_COMMUNICATOR */
/* the advertiser must perform an initial publish to initialise the object */
result = orb_publish(meta, advertiser, data);
@@ -318,13 +322,7 @@ int uORB::Manager::orb_get_interval(int handle, unsigned *interval)
return ret;
}
int uORB::Manager::node_advertise
(
const struct orb_metadata *meta,
int *instance,
int priority
)
int uORB::Manager::node_advertise(const struct orb_metadata *meta, int *instance, int priority)
{
int fd = -1;
int ret = PX4_ERROR;
@@ -441,8 +439,7 @@ int uORB::Manager::node_open(const struct orb_metadata *meta, const void *data,
return fd;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
#ifdef ORB_COMMUNICATOR
void uORB::Manager::set_uorb_communicator(uORBCommunicator::IChannel *channel)
{
_comm_channel = channel;
@@ -457,8 +454,6 @@ uORBCommunicator::IChannel *uORB::Manager::get_uorb_communicator()
return _comm_channel;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::Manager::process_remote_topic(const char *topic_name, bool isAdvertisement)
{
int16_t rc = 0;
@@ -473,8 +468,6 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name, bool isAdver
return rc;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::Manager::process_add_subscription(const char *messageName, int32_t msgRateInHz)
{
PX4_DEBUG("entering Manager_process_add_subscription: name: %s", messageName);
@@ -503,8 +496,6 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName, int32_t
return rc;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::Manager::process_remove_subscription(const char *messageName)
{
int16_t rc = -1;
@@ -531,8 +522,6 @@ int16_t uORB::Manager::process_remove_subscription(const char *messageName)
return rc;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::Manager::process_received_message(const char *messageName, int32_t length, uint8_t *data)
{
int16_t rc = -1;
@@ -565,7 +554,7 @@ bool uORB::Manager::is_remote_subscriber_present(const char *messageName)
return (_remote_subscriber_topics.find(messageName) != _remote_subscriber_topics.end());
#endif
}
#endif /* ORB_COMMUNICATOR */
#ifdef ORB_USE_PUBLISHER_RULES