Add IOCTL interface to uORBManager for nuttx protected/kernel build split

When building uORB for NuttX flat build, or for some other target, everything
works as before.

When building uORB for NuttX protected or kernel build, this does the following:
- The kernel side uORB library reigsters a boardctl handler for calls from userspace
  and services the boardctl_ioctls by calling the actual uORB functions
- For user mode binaries, the uORBManager acts as a proxy, making boardctl_ioctl calls to the
  kernel side
- The uORBDeviceNodes are always allocated in user heap for protected build, so that they
  are accessible from both kernel and user side. This is only for optimization, a few
  functions such as "is_advertised" get really heavy when called frequently via ioctl

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

platforms/common/uORB/uORBManager.hpp

@@ -37,7 +37,8 @@
 #include "uORBDeviceNode.hpp"
 #include "uORBCommon.hpp"
 #include "uORBDeviceMaster.hpp"
-
+#include <uORB/topics/uORBTopics.hpp> // For ORB_ID enum
+#include <lib/cdev/CDev.hpp>
 #include <stdint.h>
 
 #ifdef __PX4_NUTTX
@@ -58,6 +59,100 @@ class Manager;
 class SubscriptionCallback;
 }
 
+
+/*
+ * IOCTLs for manager to access device nodes using
+ * a handle
+ *
+ * This is WIP; handle is just a pointer to kernel side object, so this is a
+ * security hole.
+ *
+ * The handle in the user side should just be a file descriptor, and IOCTL go
+ * directly to the device nodes.
+ * But for now, publisher doesn't even keep the descriptors open.
+ * This needs to be addressed later!
+ */
+
+#define ORBIOCDEVEXISTS	_ORBIOC(30)
+typedef struct orbiocdevexists {
+	const ORB_ID orb_id;
+	const uint8_t instance;
+	const bool check_advertised;
+	int ret;
+} orbiocdevexists_t;
+
+#define ORBIOCDEVADVERTISE	_ORBIOC(31)
+typedef struct orbiocadvertise {
+	const struct orb_metadata *meta;
+	bool is_advertiser;
+	int *instance;
+	int ret;
+} orbiocdevadvertise_t;
+
+#define ORBIOCDEVUNADVERTISE	_ORBIOC(32)
+typedef struct orbiocunadvertise {
+	void *handle;
+	int ret;
+} orbiocdevunadvertise_t;
+
+#define ORBIOCDEVPUBLISH	_ORBIOC(33)
+typedef struct orbiocpublish {
+	const struct orb_metadata *meta;
+	orb_advert_t handle;
+	const void *data;
+	int ret;
+} orbiocdevpublish_t;
+
+#define ORBIOCDEVADDSUBSCRIBER	_ORBIOC(34)
+typedef struct {
+	const ORB_ID orb_id;
+	const uint8_t instance;
+	unsigned *initial_generation;
+	void *handle;
+} orbiocdevaddsubscriber_t;
+
+#define ORBIOCDEVREMSUBSCRIBER	_ORBIOC(35)
+
+#define ORBIOCDEVQUEUESIZE	_ORBIOC(36)
+typedef struct {
+	const void *handle;
+	uint8_t size;
+} orbiocdevqueuesize_t;
+
+#define ORBIOCDEVDATACOPY	_ORBIOC(37)
+typedef struct {
+	void *handle;
+	void *dst;
+	unsigned generation;
+	bool ret;
+} orbiocdevdatacopy_t;
+
+#define ORBIOCDEVREGCALLBACK	_ORBIOC(38)
+typedef struct {
+	void *handle;
+	class uORB::SubscriptionCallback *callback_sub;
+	bool registered;
+} orbiocdevregcallback_t;
+
+#define ORBIOCDEVUNREGCALLBACK	_ORBIOC(39)
+typedef struct {
+	void *handle;
+	class uORB::SubscriptionCallback *callback_sub;
+} orbiocdevunregcallback_t;
+
+#define ORBIOCDEVGETINSTANCE	_ORBIOC(40)
+typedef struct {
+	const void *handle;
+	uint8_t instance;
+} orbiocdevgetinstance_t;
+
+typedef enum {
+	ORB_DEVMASTER_STATUS = 0,
+	ORB_DEVMASTER_TOP = 1
+} orbiocdevmastercmd_t;
+#define ORBIOCDEVMASTERCMD	_ORBIOC(45)
+
+
 /**
  * This is implemented as a singleton.  This class manages creating the
  * uORB nodes for each uORB topics and also implements the behavor of the
@@ -98,6 +193,10 @@ public:
 	 */
 	uORB::DeviceMaster *get_device_master();
 
+#if defined (__PX4_NUTTX) && !defined (CONFIG_BUILD_FLAT) && defined(__KERNEL__)
+	static int orb_ioctl(unsigned int cmd, unsigned long arg);
+#endif
+
 	// ==== uORB interface methods ====
 	/**
 	 * Advertise as the publisher of a topic.