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uORB move to PX4 platform layer
This commit is contained in:
Daniel Agar
@@ -0,0 +1,487 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 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
|
||||
* 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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#ifndef _uORBManager_hpp_
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#define _uORBManager_hpp_
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#include "uORBCommon.hpp"
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#include "uORBDeviceMaster.hpp"
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#include <stdint.h>
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#ifdef __PX4_NUTTX
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#include "ORBSet.hpp"
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#else
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#include <string>
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#include <set>
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#define ORBSet std::set<std::string>
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#endif
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#ifdef ORB_COMMUNICATOR
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#include "uORBCommunicator.hpp"
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#endif /* ORB_COMMUNICATOR */
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namespace uORB
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{
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class Manager;
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}
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/**
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* This is implemented as a singleton. This class manages creating the
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* uORB nodes for each uORB topics and also implements the behavor of the
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* uORB Api's.
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*/
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class uORB::Manager
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#ifdef ORB_COMMUNICATOR
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: public uORBCommunicator::IChannelRxHandler
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#endif /* ORB_COMMUNICATOR */
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{
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public:
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// public interfaces for this class.
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/**
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* Initialize the singleton. Call this before everything else.
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* @return true on success
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*/
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static bool initialize();
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/**
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* Terminate the singleton. Call this after everything else.
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* @return true on success
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*/
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static bool terminate();
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/**
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* Method to get the singleton instance for the uORB::Manager.
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* Make sure initialize() is called first.
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* @return uORB::Manager*
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*/
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static uORB::Manager *get_instance() { return _Instance; }
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/**
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* Get the DeviceMaster. If it does not exist,
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* it will be created and initialized.
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* Note: the first call to this is not thread-safe.
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* @return nullptr if initialization failed (and errno will be set)
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*/
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uORB::DeviceMaster *get_device_master();
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// ==== uORB interface methods ====
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/**
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* Advertise as the publisher of a topic.
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*
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* This performs the initial advertisement of a topic; it creates the topic
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* node in /obj if required and publishes the initial data.
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*
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* Any number of advertisers may publish to a topic; publications are atomic
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* but co-ordination between publishers is not provided by the ORB.
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*
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* Internally this will call orb_advertise_multi with an instance of 0.
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro)
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* for the topic.
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* @param data A pointer to the initial data to be published.
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* For topics updated by interrupt handlers, the advertisement
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* must be performed from non-interrupt context.
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* @param queue_size Maximum number of buffered elements. If this is 1, no queuing is
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* used.
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* @return nullptr on error, otherwise returns an object pointer
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* that can be used to publish to the topic.
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* If the topic in question is not known (due to an
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* ORB_DEFINE with no corresponding ORB_DECLARE)
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* this function will return nullptr and set errno to ENOENT.
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*/
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orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1)
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{
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return orb_advertise_multi(meta, data, nullptr, queue_size);
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}
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/**
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* Advertise as the publisher of a topic.
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*
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* This performs the initial advertisement of a topic; it creates the topic
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* node in /obj if required and publishes the initial data.
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*
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* Any number of advertisers may publish to a topic; publications are atomic
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* but co-ordination between publishers is not provided by the ORB.
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*
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* The multi can be used to create multiple independent instances of the same topic
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* (each instance has its own buffer).
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* This is useful for multiple publishers who publish the same topic. The subscriber
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* then subscribes to all instances and chooses which source he wants to use.
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro)
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* for the topic.
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* @param data A pointer to the initial data to be published.
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* For topics updated by interrupt handlers, the advertisement
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* must be performed from non-interrupt context.
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* @param instance Pointer to an integer which will yield the instance ID (0-based)
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* of the publication. This is an output parameter and will be set to the newly
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* created instance, ie. 0 for the first advertiser, 1 for the next and so on.
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* @param queue_size Maximum number of buffered elements. If this is 1, no queuing is
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* used.
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* @return PX4_ERROR on error, otherwise returns a handle
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* that can be used to publish to the topic.
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* If the topic in question is not known (due to an
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* ORB_DEFINE with no corresponding ORB_DECLARE)
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* this function will return -1 and set errno to ENOENT.
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*/
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orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
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unsigned int queue_size = 1);
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/**
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* Unadvertise a topic.
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*
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* @param handle handle returned by orb_advertise or orb_advertise_multi.
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* @return 0 on success
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*/
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int orb_unadvertise(orb_advert_t handle);
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/**
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* Publish new data to a topic.
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*
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* The data is atomically published to the topic and any waiting subscribers
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* will be notified. Subscribers that are not waiting can check the topic
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* for updates using orb_check.
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro)
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* for the topic.
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* @handle The handle returned from orb_advertise.
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* @param data A pointer to the data to be published.
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* @return OK on success, PX4_ERROR otherwise with errno set accordingly.
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*/
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int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data);
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/**
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* Subscribe to a topic.
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*
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* The returned value is a file descriptor that can be passed to poll()
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* in order to wait for updates to a topic, as well as topic_read,
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* orb_check.
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*
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* If there were any publications of the topic prior to the subscription,
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* an orb_check right after orb_subscribe will return true.
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*
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* Subscription will succeed even if the topic has not been advertised;
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* in this case the topic will have a timestamp of zero, it will never
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* signal a poll() event, checking will always return false and it cannot
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* be copied. When the topic is subsequently advertised, poll, check,
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* stat and copy calls will react to the initial publication that is
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* performed as part of the advertisement.
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*
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* Subscription will fail if the topic is not known to the system, i.e.
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* there is nothing in the system that has declared the topic and thus it
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* can never be published.
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*
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* Internally this will call orb_subscribe_multi with instance 0.
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro)
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* for the topic.
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* @return PX4_ERROR on error, otherwise returns a handle
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* that can be used to read and update the topic.
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*/
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int orb_subscribe(const struct orb_metadata *meta);
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/**
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* Subscribe to a multi-instance of a topic.
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*
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* The returned value is a file descriptor that can be passed to poll()
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* in order to wait for updates to a topic, as well as topic_read,
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* orb_check.
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*
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* If there were any publications of the topic prior to the subscription,
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* an orb_check right after orb_subscribe_multi will return true.
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*
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* Subscription will succeed even if the topic has not been advertised;
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* in this case the topic will have a timestamp of zero, it will never
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* signal a poll() event, checking will always return false and it cannot
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* be copied. When the topic is subsequently advertised, poll, check,
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* stat and copy calls will react to the initial publication that is
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* performed as part of the advertisement.
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*
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* Subscription will fail if the topic is not known to the system, i.e.
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* there is nothing in the system that has declared the topic and thus it
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* can never be published.
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*
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* If a publisher publishes multiple instances the subscriber should
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* subscribe to each instance with orb_subscribe_multi
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* (@see orb_advertise_multi()).
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro)
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* for the topic.
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* @param instance The instance of the topic. Instance 0 matches the
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* topic of the orb_subscribe() call, higher indices
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* are for topics created with orb_advertise_multi().
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* @return PX4_ERROR on error, otherwise returns a handle
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* that can be used to read and update the topic.
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* If the topic in question is not known (due to an
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* ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE)
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* this function will return -1 and set errno to ENOENT.
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*/
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int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance);
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/**
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* Unsubscribe from a topic.
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*
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* @param handle A handle returned from orb_subscribe.
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* @return OK on success, PX4_ERROR otherwise with errno set accordingly.
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*/
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int orb_unsubscribe(int handle);
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/**
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* Fetch data from a topic.
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*
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* This is the only operation that will reset the internal marker that
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* indicates that a topic has been updated for a subscriber. Once poll
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* or check return indicating that an updaet is available, this call
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* must be used to update the subscription.
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*
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* @param meta The uORB metadata (usually from the ORB_ID() macro)
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* for the topic.
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* @param handle A handle returned from orb_subscribe.
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* @param buffer Pointer to the buffer receiving the data, or NULL
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* if the caller wants to clear the updated flag without
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* using the data.
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* @return OK on success, PX4_ERROR otherwise with errno set accordingly.
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*/
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int orb_copy(const struct orb_metadata *meta, int handle, void *buffer);
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/**
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* Check whether a topic has been published to since the last orb_copy.
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*
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* This check can be used to determine whether to copy the topic when
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* not using poll(), or to avoid the overhead of calling poll() when the
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* topic is likely to have updated.
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*
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* Updates are tracked on a per-handle basis; this call will continue to
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* return true until orb_copy is called using the same handle.
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*
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* @param handle A handle returned from orb_subscribe.
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* @param updated Set to true if the topic has been updated since the
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* last time it was copied using this handle.
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* @return OK if the check was successful, PX4_ERROR otherwise with
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* errno set accordingly.
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*/
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int orb_check(int handle, bool *updated);
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/**
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* Check if a topic has already been created and published (advertised)
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*
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* @param meta ORB topic metadata.
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* @param instance ORB instance
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* @return OK if the topic exists, PX4_ERROR otherwise.
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*/
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int orb_exists(const struct orb_metadata *meta, int instance);
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/**
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* Set the minimum interval between which updates are seen for a subscription.
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*
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* If this interval is set, the subscriber will not see more than one update
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* within the period.
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*
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* Specifically, the first time an update is reported to the subscriber a timer
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* is started. The update will continue to be reported via poll and orb_check, but
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* once fetched via orb_copy another update will not be reported until the timer
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* expires.
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*
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* This feature can be used to pace a subscriber that is watching a topic that
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* would otherwise update too quickly.
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*
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* @param handle A handle returned from orb_subscribe.
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* @param interval An interval period in milliseconds.
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* @return OK on success, PX4_ERROR otherwise with ERRNO set accordingly.
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*/
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int orb_set_interval(int handle, unsigned interval);
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/**
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* Get the minimum interval between which updates are seen for a subscription.
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*
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* @see orb_set_interval()
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*
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* @param handle A handle returned from orb_subscribe.
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* @param interval The returned interval period in milliseconds.
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* @return OK on success, PX4_ERROR otherwise with ERRNO set accordingly.
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*/
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int orb_get_interval(int handle, unsigned *interval);
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#ifdef ORB_COMMUNICATOR
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/**
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* Method to set the uORBCommunicator::IChannel instance.
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* @param comm_channel
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* The IChannel instance to talk to remote proxies.
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* @note:
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* Currently this call only supports the use of one IChannel
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* Future extensions may include more than one IChannel's.
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*/
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void set_uorb_communicator(uORBCommunicator::IChannel *comm_channel);
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/**
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* Gets the uORB Communicator instance.
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*/
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uORBCommunicator::IChannel *get_uorb_communicator();
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/**
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* Utility method to check if there is a remote subscriber present
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* for a given topic
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*/
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bool is_remote_subscriber_present(const char *messageName);
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#endif /* ORB_COMMUNICATOR */
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private: // class methods
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/**
|
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* Common implementation for orb_advertise and orb_subscribe.
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*
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* Handles creation of the object and the initial publication for
|
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* advertisers.
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*/
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int node_open(const struct orb_metadata *meta, bool advertiser, int *instance = nullptr);
|
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private: // data members
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static Manager *_Instance;
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#ifdef ORB_COMMUNICATOR
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// the communicator channel instance.
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uORBCommunicator::IChannel *_comm_channel{nullptr};
|
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ORBSet _remote_subscriber_topics;
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ORBSet _remote_topics;
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#endif /* ORB_COMMUNICATOR */
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||||
DeviceMaster *_device_master{nullptr};
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||||
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||||
private: //class methods
|
||||
Manager();
|
||||
virtual ~Manager();
|
||||
|
||||
#ifdef ORB_COMMUNICATOR
|
||||
/**
|
||||
* Interface to process a received topic from remote.
|
||||
* @param topic_name
|
||||
* This represents the uORB message Name (topic); This message Name should be
|
||||
* globally unique.
|
||||
* @param isAdvertisement
|
||||
* Represents if the topic has been advertised or is no longer avialable.
|
||||
* @return
|
||||
* 0 = success; This means the messages is successfully handled in the
|
||||
* handler.
|
||||
* otherwise = failure.
|
||||
*/
|
||||
virtual int16_t process_remote_topic(const char *topic_name, bool isAdvertisement);
|
||||
|
||||
/**
|
||||
* Interface to process a received AddSubscription from remote.
|
||||
* @param messageName
|
||||
* This represents the uORB message Name; This message Name should be
|
||||
* globally unique.
|
||||
* @param msgRate
|
||||
* The max rate at which the subscriber can accept the messages.
|
||||
* @return
|
||||
* 0 = success; This means the messages is successfully handled in the
|
||||
* handler.
|
||||
* otherwise = failure.
|
||||
*/
|
||||
virtual int16_t process_add_subscription(const char *messageName, int32_t msgRateInHz);
|
||||
|
||||
/**
|
||||
* Interface to process a received control msg to remove subscription
|
||||
* @param messageName
|
||||
* This represents the uORB message Name; This message Name should be
|
||||
* globally unique.
|
||||
* @return
|
||||
* 0 = success; This means the messages is successfully handled in the
|
||||
* handler.
|
||||
* otherwise = failure.
|
||||
*/
|
||||
virtual int16_t process_remove_subscription(const char *messageName);
|
||||
|
||||
/**
|
||||
* Interface to process the received data message.
|
||||
* @param messageName
|
||||
* This represents the uORB message Name; This message Name should be
|
||||
* globally unique.
|
||||
* @param length
|
||||
* The length of the data buffer to be sent.
|
||||
* @param data
|
||||
* The actual data to be sent.
|
||||
* @return
|
||||
* 0 = success; This means the messages is successfully handled in the
|
||||
* handler.
|
||||
* otherwise = failure.
|
||||
*/
|
||||
virtual int16_t process_received_message(const char *messageName, int32_t length, uint8_t *data);
|
||||
#endif /* ORB_COMMUNICATOR */
|
||||
|
||||
#ifdef ORB_USE_PUBLISHER_RULES
|
||||
|
||||
struct PublisherRule {
|
||||
const char **topics; //null-terminated list of topic names
|
||||
const char *module_name; //only this module is allowed to publish one of the topics
|
||||
bool ignore_other_topics;
|
||||
};
|
||||
|
||||
/**
|
||||
* test if str starts with pre
|
||||
*/
|
||||
bool startsWith(const char *pre, const char *str);
|
||||
|
||||
/**
|
||||
* find a topic in a rule
|
||||
*/
|
||||
bool findTopic(const PublisherRule &rule, const char *topic_name);
|
||||
|
||||
/**
|
||||
* trim whitespace from the beginning of a string
|
||||
*/
|
||||
void strTrim(const char **str);
|
||||
|
||||
/**
|
||||
* Read publisher rules from a file. It has the format:
|
||||
*
|
||||
* restrict_topics: <topic1>, <topic2>, <topic3>
|
||||
* module: <module_name>
|
||||
* [ignore_others:true]
|
||||
*
|
||||
* @return 0 on success, <0 otherwise
|
||||
*/
|
||||
int readPublisherRulesFromFile(const char *file_name, PublisherRule &rule);
|
||||
|
||||
PublisherRule _publisher_rule;
|
||||
bool _has_publisher_rules = false;
|
||||
|
||||
#endif /* ORB_USE_PUBLISHER_RULES */
|
||||
|
||||
};
|
||||
|
||||
#endif /* _uORBManager_hpp_ */
|
||||
Reference in New Issue
Block a user