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Qurt uORB communicator fixes (#20705)

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- there was an issue sending a message from slpi to apps. Seems the code was stuck in an loop and crashed when the message was sent from slpi to apps
This commit is contained in:
Zachary Lowell
2022-12-06 10:33:19 -05:00
committed by GitHub
parent 1ea026961e
commit 91acd494a3
7 changed files with 60 additions and 122 deletions
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platforms/common/uORB/uORBCommunicator.hpp
+5 -25
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@@ -67,21 +67,8 @@ public:
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
virtual int16_t topic_advertised(const char *messageName) = 0;
/**
* @brief Interface to notify the remote entity of a topic being unadvertised
* and is no longer publishing messages.
*
* @param messageName
* This represents the uORB message name(aka topic); This message name should be
* globally unique.
* @return
* 0 = success; This means the messages is successfully sent to the receiver
* Note: This does not mean that the receiver as received it.
* otherwise = failure.
*/
//virtual int16_t topic_unadvertised(const char *messageName) = 0;
virtual int16_t topic_advertised(const char *messageName) = 0;
/**
* @brief Interface to notify the remote entity of interest of a
@@ -100,8 +87,6 @@ public:
virtual int16_t add_subscription(const char *messageName, int32_t msgRateInHz) = 0;
/**
* @brief Interface to notify the remote entity of removal of a subscription
*
@@ -116,10 +101,10 @@ public:
virtual int16_t remove_subscription(const char *messageName) = 0;
/**
* Register Message Handler. This is internal for the IChannel implementer*
*/
virtual int16_t register_handler(uORBCommunicator::IChannelRxHandler *handler) = 0;
@@ -155,35 +140,30 @@ class uORBCommunicator::IChannelRxHandler
public:
/**
* Interface to process a received topic from remote.
* Interface to process a received topic advertisement from remote.
* @param topic_name
* This represents the uORB message Name (topic); This message Name should be
* globally unique.
* @param isAdvertisement
* Represents if the topic has been advertised or is no longer avialable.
* @return
* 0 = success; This means the messages is successfully handled in the
* handler.
* otherwise = failure.
*/
virtual int16_t process_remote_topic(const char *topic_name, bool isAdvertisement) = 0;
virtual int16_t process_remote_topic(const char *topic_name) = 0;
/**
* Interface to process a received AddSubscription from remote.
* @param messageName
* This represents the uORB message Name; This message Name should be
* globally unique.
* @param msgRate
* The max rate at which the subscriber can accept the messages.
* @return
* 0 = success; This means the messages is successfully handled in the
* handler.
* otherwise = failure.
*/
virtual int16_t process_add_subscription(const char *messageName, int32_t msgRateInHz) = 0;
virtual int16_t process_add_subscription(const char *messageName) = 0;
/**
* Interface to process a received control msg to remove subscription