uORB move to PX4 platform layer

2026-10-26 05:03:35 +08:00 · 2021-02-17 11:25:56 -05:00
parent 6bbb2faf8a
commit ab0d0fd0be
156 changed files with 261 additions and 212 deletions
@@ -0,0 +1,171 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "SubscriptionCallback.hpp"
+
+#include <containers/LockGuard.hpp>
+#include <px4_time.h>
+
+namespace uORB
+{
+
+// Subscription with callback that schedules a WorkItem
+template<typename T>
+class SubscriptionBlocking : public SubscriptionCallback
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 * @param interval_us The requested maximum update interval in microseconds.
+	 * @param instance The instance for multi sub.
+	 */
+	SubscriptionBlocking(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) :
+		SubscriptionCallback(meta, interval_us, instance)
+	{
+		// pthread_mutexattr_init
+		pthread_mutexattr_t attr;
+		int ret_attr_init = pthread_mutexattr_init(&attr);
+
+		if (ret_attr_init != 0) {
+			PX4_ERR("pthread_mutexattr_init failed, status=%d", ret_attr_init);
+		}
+
+#if defined(PTHREAD_PRIO_NONE)
+		// pthread_mutexattr_settype
+		//  PTHREAD_PRIO_NONE not available on cygwin
+		int ret_mutexattr_settype = pthread_mutexattr_settype(&attr, PTHREAD_PRIO_NONE);
+
+		if (ret_mutexattr_settype != 0) {
+			PX4_ERR("pthread_mutexattr_settype failed, status=%d", ret_mutexattr_settype);
+		}
+
+#endif // PTHREAD_PRIO_NONE
+
+		// pthread_mutex_init
+		int ret_mutex_init = pthread_mutex_init(&_mutex, &attr);
+
+		if (ret_mutex_init != 0) {
+			PX4_ERR("pthread_mutex_init failed, status=%d", ret_mutex_init);
+		}
+	}
+
+	virtual ~SubscriptionBlocking()
+	{
+		pthread_mutex_destroy(&_mutex);
+		pthread_cond_destroy(&_cv);
+	}
+
+	void call() override
+	{
+		// signal immediately if no interval, otherwise only if interval has elapsed
+		if ((_interval_us == 0) || (hrt_elapsed_time(&_last_update) >= _interval_us)) {
+			pthread_cond_signal(&_cv);
+		}
+	}
+
+	/**
+	 * Block until updated.
+	 * @param timeout_us The requested timeout in microseconds, or 0 to wait indefinitely.
+	 *
+	 * @return true only if topic was updated
+	 */
+	bool updatedBlocking(uint32_t timeout_us = 0)
+	{
+		if (!_registered) {
+			registerCallback();
+		}
+
+		if (updated()) {
+			// return immediately if updated
+			return true;
+
+		} else {
+			// otherwise wait
+
+			LockGuard lg{_mutex};
+
+			if (timeout_us == 0) {
+				// wait with no timeout
+				if (pthread_cond_wait(&_cv, &_mutex) == 0) {
+					return updated();
+				}
+
+			} else {
+				// otherwise wait with timeout based on interval
+
+				// Calculate an absolute time in the future
+				struct timespec ts;
+				px4_clock_gettime(CLOCK_REALTIME, &ts);
+				uint64_t nsecs = ts.tv_nsec + (timeout_us * 1000);
+				static constexpr unsigned billion = (1000 * 1000 * 1000);
+				ts.tv_sec += nsecs / billion;
+				nsecs -= (nsecs / billion) * billion;
+				ts.tv_nsec = nsecs;
+
+				if (px4_pthread_cond_timedwait(&_cv, &_mutex, &ts) == 0) {
+					return updated();
+				}
+			}
+		}
+
+		return false;
+	}
+
+	/**
+	 * Copy the struct if updated.
+	 * @param data The data reference where the struct will be copied.
+	 * @param timeout_us The requested timeout in microseconds, or 0 to wait indefinitely.
+	 *
+	 * @return true only if topic was updated and copied successfully.
+	 */
+	bool updateBlocking(T &data, uint32_t timeout_us = 0)
+	{
+		if (updatedBlocking(timeout_us)) {
+			return copy(&data);
+		}
+
+		return false;
+	}
+
+private:
+
+	pthread_mutex_t _mutex = PTHREAD_MUTEX_INITIALIZER;
+	pthread_cond_t	_cv = PTHREAD_COND_INITIALIZER;
+
+};
+
+} // namespace uORB