uORB move to PX4 platform layer

2026-10-23 05:23:33 +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 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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 <stdint.h>
+
+#include "uORBCommon.hpp"
+#include <uORB/topics/uORBTopics.hpp>
+
+#include <px4_platform_common/posix.h>
+
+namespace uORB
+{
+class DeviceNode;
+class DeviceMaster;
+class Manager;
+}
+
+#include <string.h>
+#include <stdlib.h>
+
+#include <containers/IntrusiveSortedList.hpp>
+#include <px4_platform_common/atomic_bitset.h>
+
+using px4::AtomicBitset;
+
+/**
+ * Master control device for ObjDev.
+ *
+ * Used primarily to create new objects via the ORBIOCCREATE
+ * ioctl.
+ */
+class uORB::DeviceMaster
+{
+public:
+
+	int advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance);
+
+	/**
+	 * Public interface for getDeviceNodeLocked(). Takes care of synchronization.
+	 * @return node if exists, nullptr otherwise
+	 */
+	uORB::DeviceNode *getDeviceNode(const char *node_name);
+	uORB::DeviceNode *getDeviceNode(const struct orb_metadata *meta, const uint8_t instance);
+
+	bool deviceNodeExists(ORB_ID id, const uint8_t instance);
+
+	/**
+	 * Print statistics for each existing topic.
+	 */
+	void printStatistics();
+
+	/**
+	 * Continuously print statistics, like the unix top command for processes.
+	 * Exited when the user presses the enter key.
+	 * @param topic_filter list of topic filters: if set, each string can be a substring for topics to match.
+	 *        Or it can be '-a', which means to print all topics instead of only ones currently publishing with subscribers.
+	 * @param num_filters
+	 */
+	void showTop(char **topic_filter, int num_filters);
+
+private:
+	// Private constructor, uORB::Manager takes care of its creation
+	DeviceMaster();
+	~DeviceMaster();
+
+	struct DeviceNodeStatisticsData {
+		DeviceNode *node;
+		unsigned int last_pub_msg_count;
+		unsigned int pub_msg_delta;
+		DeviceNodeStatisticsData *next = nullptr;
+	};
+
+	int addNewDeviceNodes(DeviceNodeStatisticsData **first_node, int &num_topics, size_t &max_topic_name_length,
+			      char **topic_filter, int num_filters);
+
+	friend class uORB::Manager;
+
+	/**
+	 * Find a node give its name.
+	 * _lock must already be held when calling this.
+	 * @return node if exists, nullptr otherwise
+	 */
+	uORB::DeviceNode *getDeviceNodeLocked(const struct orb_metadata *meta, const uint8_t instance);
+
+	IntrusiveSortedList<uORB::DeviceNode *> _node_list;
+	AtomicBitset<ORB_TOPICS_COUNT> _node_exists[ORB_MULTI_MAX_INSTANCES];
+
+	px4_sem_t	_lock; /**< lock to protect access to all class members (also for derived classes) */
+
+	void		lock() { do {} while (px4_sem_wait(&_lock) != 0); }
+	void		unlock() { px4_sem_post(&_lock); }
+};