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Added rpcmem.a to posix_eagle_release build

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-01-21 12:07:33 -08:00
committed by Julian Oes
parent 5846a22a8f
commit a002d6eabd
3 changed files with 166 additions and 43 deletions
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cmake/cmake_hexagon
+1 -1
Submodule cmake/cmake_hexagon updated: 720078ffe4...c148d92f59
src/modules/muorb/krait/CMakeLists.txt
+4 -1
View File
@@ -31,7 +31,10 @@
#
############################################################################
include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
include_directories(${HEXAGON_SDK_ROOT}/inc/stddef)
include_directories(
${HEXAGON_SDK_ROOT}/inc/stddef
${HEXAGON_SDK_ROOT}/lib/common/rpcmem
)
px4_add_module(
MODULE modules__muorb__krait
src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
+161 -41
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
* Copyright (C) 2016 Ramakrishna Kintada. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -30,77 +30,197 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <stdint.h>
#include "px4muorb_KraitRpcWrapper.hpp"
#include <rpcmem.h>
#include "px4muorb.h"
#include "px4_log.h"
using namespace px4muorb;
/**
* Constructor
*/
KraitRpcWrapper::KraitRpcWrapper() {}
/* Flags applied to the allocation of the shared memory for RPC */
#define MUORB_KRAIT_FASTRPC_MEM_FLAGS 0
/**
* destructor
*/
KraitRpcWrapper::~KraitRpcWrapper() {}
/* The ID of the HEAP to be used when allocating shared memory */
//TODO This heap id is used for test purposes. We need to find out the correct one.
#define MUORB_KRAIT_FASTRPC_HEAP_ID 22
/**
* Initiatizes the rpc channel px4 muorb
*/
bool KraitRpcWrapper::Initialize()
static char *_TopicNameBuffer = 0;
static const int32_t _MAX_TOPIC_NAME_BUFFER = 256;
static uint8_t *_DataBuffer = 0;
static const uint32_t _MAX_DATA_BUFFER_SIZE = 2048;
static bool _Initialized = false;
// These numbers are based off the fact each fastrpc call for 64K packet is 94us.
// hence we are trying to allocation 64K of byte buffers.
static const uint32_t _MAX_TOPIC_DATA_BUFFER_SIZE = 1024;
static const uint32_t _MAX_TOPICS = 64;
static const uint32_t _MAX_BULK_TRANSFER_BUFFER_SIZE = _MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS;
static uint8_t *_BulkTransferBuffer = 0;
px4muorb::KraitRpcWrapper::KraitRpcWrapper()
{
return (px4muorb_orb_initialize() == 0);
}
/**
* Terminate to clean up the resources. This should be called at program exit
*/
bool KraitRpcWrapper::Terminate()
px4muorb::KraitRpcWrapper::~KraitRpcWrapper()
{
// FIXME - TBD
}
bool px4muorb::KraitRpcWrapper::Initialize()
{
bool rc = true;
PX4_DEBUG("%s Now calling rpcmem_init...", __FUNCTION__);
rpcmem_init();
PX4_DEBUG("%s Now calling rpcmem_alloc...", __FUNCTION__);
_BulkTransferBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID, MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t));
rc = (_BulkTransferBuffer != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for bulk transfer buffers", __FUNCTION__);
return rc;
} else {
PX4_DEBUG("%s rpcmem_alloc passed for Bulk transfer buffers buffer_size: %d addr: %p",
__FUNCTION__, (_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t)), _BulkTransferBuffer);
}
_TopicNameBuffer = (char *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS, _MAX_TOPIC_NAME_BUFFER * sizeof(char));
rc = (_TopicNameBuffer != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for topic_name_buffer", __FUNCTION__);
rpcmem_free(_BulkTransferBuffer);
return rc;
} else {
PX4_DEBUG("%s rpcmem_alloc passed for topic_name_buffer", __FUNCTION__);
}
// now allocate the data buffer.
_DataBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS, _MAX_DATA_BUFFER_SIZE * sizeof(uint8_t));
rc = (_DataBuffer != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for DataBuffer", __FUNCTION__);
// free the topic name buffer;
rpcmem_free(_BulkTransferBuffer);
rpcmem_free(_TopicNameBuffer);
_TopicNameBuffer = 0;
return rc;
} else {
PX4_DEBUG("%s rpcmem_alloc passed for data_buffer", __FUNCTION__);
}
// call myorb intiialize rotine.
if (px4muorb_orb_initialize() != 0) {
PX4_ERR("%s Error calling the uorb fastrpc initalize method..", __FUNCTION__);
rc = false;
return rc;
}
_Initialized = true;
return rc;
}
bool px4muorb::KraitRpcWrapper::Terminate()
{
if (_BulkTransferBuffer != NULL) {
rpcmem_free(_BulkTransferBuffer);
_BulkTransferBuffer = 0;
}
if (_TopicNameBuffer != NULL) {
rpcmem_free(_TopicNameBuffer);
_TopicNameBuffer = 0;
}
if (_DataBuffer != NULL) {
rpcmem_free(_DataBuffer);
_DataBuffer = 0;
}
_Initialized = false;
return true;
}
/**
* Muorb related functions to pub/sub of orb topic from krait to adsp
*/
int32_t KraitRpcWrapper::AddSubscriber(const char *topic)
int32_t px4muorb::KraitRpcWrapper::AddSubscriber(const char *topic)
{
return px4muorb_add_subscriber(topic);
return ((_Initialized) ? px4muorb_add_subscriber(topic) : -1);
}
int32_t KraitRpcWrapper::RemoveSubscriber(const char *topic)
int32_t px4muorb::KraitRpcWrapper::RemoveSubscriber(const char *topic)
{
return px4muorb_remove_subscriber(topic);
return (_Initialized ? px4muorb_remove_subscriber(topic) : -1);
}
int32_t KraitRpcWrapper::SendData(const char *topic, int32_t length_in_bytes, const uint8_t *data)
int32_t px4muorb::KraitRpcWrapper::IsSubscriberPresent(const char *topic, int32_t *status)
{
return px4muorb_send_topic_data(topic, data, length_in_bytes);
return (_Initialized ? px4muorb_is_subscriber_present(topic, status) : -1);
}
int32_t KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic, int32_t *length_in_bytes, uint8_t **data)
int32_t px4muorb::KraitRpcWrapper::SendData(const char *topic, int32_t length_in_bytes, const uint8_t *data)
{
// FIXME ??
int topic_nameLen = 0;
int rv = px4muorb_receive_msg(msg_type, *topic, topic_nameLen, *data, *length_in_bytes, length_in_bytes);
return rv;
return (_Initialized ? px4muorb_send_topic_data(topic, data, length_in_bytes) : -1);
}
int32_t KraitRpcWrapper::IsSubscriberPresent(const char *topic, int32_t *status)
int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic, int32_t *length_in_bytes,
uint8_t **data)
{
return px4muorb_is_subscriber_present(topic, status);
int32_t rc = -1;
if (_Initialized) {
rc = px4muorb_receive_msg(msg_type, _TopicNameBuffer, _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE,
length_in_bytes);
if (rc == 0) {
*topic = _TopicNameBuffer;
*data = _DataBuffer;
} else {
PX4_ERR("ERROR: Getting data from fastRPC link");
}
} else {
PX4_ERR("ERROR: FastRpcWrapper Not Initialized");
}
return rc;
}
int32_t KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data, int32_t *length_in_bytes, int32_t *topic_count)
int32_t px4muorb::KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data, int32_t *length_in_bytes, int32_t *topic_count)
{
return px4muorb_receive_bulk_data(*bulk_data, *length_in_bytes, length_in_bytes, topic_count);
int32_t rc = -1;
if (_Initialized) {
//rc = px4muorb_receive_msg( msg_type, _TopicNameBuffer, _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE, length_in_bytes );
rc = px4muorb_receive_bulk_data(_BulkTransferBuffer, _MAX_BULK_TRANSFER_BUFFER_SIZE, length_in_bytes, topic_count);
if (rc == 0) {
*bulk_data = _BulkTransferBuffer;
} else {
PX4_ERR("ERROR: Getting Bulk data from fastRPC link");
}
} else {
PX4_ERR("ERROR: FastRpcWrapper Not Initialized");
}
return rc;
}
int32_t KraitRpcWrapper::UnblockReceiveData()
int32_t px4muorb::KraitRpcWrapper::UnblockReceiveData()
{
return px4muorb_unblock_recieve_msg();
return (_Initialized ? px4muorb_unblock_recieve_msg() : -1);
}