uORB move to PX4 platform layer

src/systemcmds/uorb/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+px4_add_module(
+	MODULE systemcmds__uorb
+	MAIN uorb
+	COMPILE_FLAGS
+	SRCS
+		uorb.cpp
+	DEPENDS
+	)

src/systemcmds/uorb/uorb.cpp

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+#include <string.h>
+
+#include <uORB/uORB.h>
+
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+
+extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
+
+static void usage();
+
+int uorb_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage();
+		return -1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+		return uorb_start();
+
+	} else if (!strcmp(argv[1], "status")) {
+		return uorb_status();
+
+	} else if (!strcmp(argv[1], "top")) {
+		return uorb_top(argv + 2, argc - 2);
+	}
+
+	usage();
+	return 0;
+}
+
+void usage()
+{
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+uORB is the internal pub-sub messaging system, used for communication between modules.
+
+### Implementation
+The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa.
+This is achieved by having a separate buffer between a publisher and a subscriber.
+
+The code is optimized to minimize the memory footprint and the latency to exchange messages.
+
+Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time.
+
+If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which
+modules are allowed to publish which topics. This is used for system-wide replay.
+
+### Examples
+Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:
+$ uorb top
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("uorb", "communication");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print topic statistics");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("top", "Monitor topic publication rates");
+	PRINT_MODULE_USAGE_PARAM_FLAG('a', "print all instead of only currently publishing topics with subscribers", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('1', "run only once, then exit", true);
+	PRINT_MODULE_USAGE_ARG("<filter1> [<filter2>]", "topic(s) to match (implies -a)", true);
+}