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uORB move to PX4 platform layer
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Daniel Agar
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "uORBCommon.hpp"
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#include "uORBDeviceMaster.hpp"
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#include <lib/cdev/CDev.hpp>
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#include <containers/IntrusiveSortedList.hpp>
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#include <containers/List.hpp>
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#include <px4_platform_common/atomic.h>
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namespace uORB
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{
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class DeviceNode;
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class DeviceMaster;
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class Manager;
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class SubscriptionCallback;
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}
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namespace uORBTest
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{
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class UnitTest;
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}
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/**
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* Per-object device instance.
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*/
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class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode<uORB::DeviceNode *>
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{
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public:
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DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t queue_size = 1);
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virtual ~DeviceNode();
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// no copy, assignment, move, move assignment
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DeviceNode(const DeviceNode &) = delete;
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DeviceNode &operator=(const DeviceNode &) = delete;
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DeviceNode(DeviceNode &&) = delete;
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DeviceNode &operator=(DeviceNode &&) = delete;
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bool operator<=(const DeviceNode &rhs) const { return (strcmp(get_devname(), rhs.get_devname()) <= 0); }
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/**
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* Method to create a subscriber instance and return the struct
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* pointing to the subscriber as a file pointer.
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*/
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int open(cdev::file_t *filp) override;
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/**
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* Method to close a subscriber for this topic.
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*/
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int close(cdev::file_t *filp) override;
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/**
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* reads data from a subscriber node to the buffer provided.
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* @param filp
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* The subscriber from which the data needs to be read from.
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* @param buffer
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* The buffer into which the data is read into.
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* @param buflen
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* the length of the buffer
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* @return
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* ssize_t the number of bytes read.
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*/
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ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen) override;
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/**
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* writes the published data to the internal buffer to be read by
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* subscribers later.
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* @param filp
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* the subscriber; this is not used.
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* @param buffer
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* The buffer for the input data
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* @param buflen
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* the length of the buffer.
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* @return ssize_t
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* The number of bytes that are written
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*/
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ssize_t write(cdev::file_t *filp, const char *buffer, size_t buflen) override;
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/**
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* IOCTL control for the subscriber.
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*/
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int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
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/**
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* Method to publish a data to this node.
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*/
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static ssize_t publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
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static int unadvertise(orb_advert_t handle);
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#ifdef ORB_COMMUNICATOR
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static int16_t topic_advertised(const orb_metadata *meta);
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//static int16_t topic_unadvertised(const orb_metadata *meta);
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/**
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* processes a request for add subscription from remote
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* @param rateInHz
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* Specifies the desired rate for the message.
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* @return
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* 0 = success
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* otherwise failure.
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*/
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int16_t process_add_subscription(int32_t rateInHz);
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/**
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* processes a request to remove a subscription from remote.
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*/
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int16_t process_remove_subscription();
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/**
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* processed the received data message from remote.
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*/
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int16_t process_received_message(int32_t length, uint8_t *data);
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#endif /* ORB_COMMUNICATOR */
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/**
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* Add the subscriber to the node's list of subscriber. If there is
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* remote proxy to which this subscription needs to be sent, it will
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* done via uORBCommunicator::IChannel interface.
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* @param sd
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* the subscriber to be added.
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*/
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void add_internal_subscriber();
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/**
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* Removes the subscriber from the list. Also notifies the remote
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* if there a uORBCommunicator::IChannel instance.
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* @param sd
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* the Subscriber to be removed.
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*/
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void remove_internal_subscriber();
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/**
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* Return true if this topic has been advertised.
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*
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* This is used in the case of multi_pub/sub to check if it's valid to advertise
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* and publish to this node or if another node should be tried. */
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bool is_advertised() const { return _advertised; }
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void mark_as_advertised() { _advertised = true; }
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/**
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* Try to change the size of the queue. This can only be done as long as nobody published yet.
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* This is the case, for example when orb_subscribe was called before an orb_advertise.
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* The queue size can only be increased.
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* @param queue_size new size of the queue
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* @return PX4_OK if queue size successfully set
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*/
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int update_queue_size(unsigned int queue_size);
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/**
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* Print statistics
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* @param max_topic_length max topic name length for printing
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* @return true if printed something, false otherwise
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*/
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bool print_statistics(int max_topic_length);
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uint8_t get_queue_size() const { return _queue_size; }
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int8_t subscriber_count() const { return _subscriber_count; }
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/**
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* Returns the number of updated data relative to the parameter 'generation'
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* We can get the correct value regardless of wrap-around or not.
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* @param generation The generation of subscriber
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*/
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unsigned updates_available(unsigned generation) const { return _generation.load() - generation; }
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/**
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* Return the initial generation to the subscriber
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* @return The initial generation.
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*/
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unsigned get_initial_generation();
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const orb_metadata *get_meta() const { return _meta; }
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ORB_ID id() const { return static_cast<ORB_ID>(_meta->o_id); }
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const char *get_name() const { return _meta->o_name; }
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uint8_t get_instance() const { return _instance; }
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/**
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* Copies data and the corresponding generation
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* from a node to the buffer provided.
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*
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* @param dst
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* The buffer into which the data is copied.
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* @param generation
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* The generation that was copied.
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* @return bool
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* Returns true if the data was copied.
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*/
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bool copy(void *dst, unsigned &generation);
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// add item to list of work items to schedule on node update
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bool register_callback(SubscriptionCallback *callback_sub);
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// remove item from list of work items
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void unregister_callback(SubscriptionCallback *callback_sub);
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protected:
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px4_pollevent_t poll_state(cdev::file_t *filp) override;
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void poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t events) override;
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private:
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friend uORBTest::UnitTest;
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const orb_metadata *_meta; /**< object metadata information */
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uint8_t *_data{nullptr}; /**< allocated object buffer */
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bool _data_valid{false}; /**< At least one valid data */
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px4::atomic<unsigned> _generation{0}; /**< object generation count */
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List<uORB::SubscriptionCallback *> _callbacks;
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const uint8_t _instance; /**< orb multi instance identifier */
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bool _advertised{false}; /**< has ever been advertised (not necessarily published data yet) */
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uint8_t _queue_size; /**< maximum number of elements in the queue */
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int8_t _subscriber_count{0};
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};
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