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Unfortunately, lot's of whitespace changes, required to satisfy unspecified code style format errors.

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This commit is contained in:
jwilson
2016-06-20 19:36:21 -07:00
committed by Julian Oes
parent 1091319274
commit acc1f04b67
4 changed files with 131 additions and 94 deletions
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src/modules/muorb/adsp/px4muorb.cpp
+34 -26
View File
@@ -49,10 +49,10 @@ __BEGIN_DECLS
extern int dspal_main(int argc, char *argv[]);
extern struct shmem_info *shmem_info_p;
extern int get_shmem_lock(const char *caller_file_name, int caller_line_number);
extern void release_shmem_lock(const char *caller_file_name, int caller_line_number);
extern void release_shmem_lock(const char *caller_file_name,
int caller_line_number);
extern void init_shared_memory(void);
__END_DECLS
int px4muorb_orb_initialize()
{
HAP_power_request(100, 100, 1000);
@@ -60,13 +60,14 @@ int px4muorb_orb_initialize()
// The uORB Manager needs to be initialized first up, otherwise the instance is nullptr.
uORB::Manager::initialize();
// Register the fastrpc muorb with uORBManager.
uORB::Manager::get_instance()->set_uorb_communicator(uORB::FastRpcChannel::GetInstance());
uORB::Manager::get_instance()->set_uorb_communicator(
uORB::FastRpcChannel::GetInstance());
// Now continue with the usual dspal startup.
const char *argv[] = {"dspal", "start"};
const char *argv[] = { "dspal", "start" };
int argc = 2;
int rc;
rc = dspal_main(argc, (char **)argv);
rc = dspal_main(argc, (char **) argv);
return rc;
}
@@ -83,12 +84,13 @@ int px4muorb_get_absolute_time(uint64_t *time_us)
}
/*update value and param's change bit in shared memory*/
int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value, int data_len_in_bytes)
int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value,
int data_len_in_bytes)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *)value;
union param_value_u *param_value = (union param_value_u *) value;
if(!shmem_info_p) {
if (!shmem_info_p) {
init_shared_memory();
}
@@ -108,11 +110,12 @@ int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value, int dat
return 0;
}
int px4muorb_param_update_index_from_shmem(unsigned char *data, int data_len_in_bytes)
int px4muorb_param_update_index_from_shmem(unsigned char *data,
int data_len_in_bytes)
{
unsigned int i;
if(!shmem_info_p)
if (!shmem_info_p)
return -1;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
@@ -129,12 +132,13 @@ int px4muorb_param_update_index_from_shmem(unsigned char *data, int data_len_in_
return 0;
}
int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value, int data_len_in_bytes)
int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value,
int data_len_in_bytes)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *)value;
union param_value_u *param_value = (union param_value_u *) value;
if(!shmem_info_p)
if (!shmem_info_p)
return -1;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
@@ -192,14 +196,16 @@ int px4muorb_remove_subscriber(const char *name)
return rc;
}
int px4muorb_send_topic_data(const char *name, const uint8_t *data, int data_len_in_bytes)
int px4muorb_send_topic_data(const char *name, const uint8_t *data,
int data_len_in_bytes)
{
int rc = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
if (rxHandler != nullptr) {
rc = rxHandler->process_received_message(name, data_len_in_bytes, (uint8_t *)data);
rc = rxHandler->process_received_message(name, data_len_in_bytes,
(uint8_t *) data);
} else {
rc = -1;
@@ -216,37 +222,39 @@ int px4muorb_is_subscriber_present(const char *topic_name, int *status)
rc = channel->is_subscriber_present(topic_name, &local_status);
if (rc == 0) {
*status = (int)local_status;
*status = (int) local_status;
}
return rc;
}
int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len, uint8_t *data, int data_len_in_bytes,
int *bytes_returned)
int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
uint8_t *data, int data_len_in_bytes, int *bytes_returned)
{
int rc = 0;
int32_t local_msg_type = 0;
int32_t local_bytes_returned = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_data(&local_msg_type, topic_name, topic_name_len, data, data_len_in_bytes, &local_bytes_returned);
*msg_type = (int)local_msg_type;
*bytes_returned = (int)local_bytes_returned;
rc = channel->get_data(&local_msg_type, topic_name, topic_name_len, data,
data_len_in_bytes, &local_bytes_returned);
*msg_type = (int) local_msg_type;
*bytes_returned = (int) local_bytes_returned;
return rc;
}
int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer, int max_size_in_bytes,
int *returned_length_in_bytes, int *topic_count)
int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
{
int rc = 0;
int32_t local_bytes_returned = 0;
int32_t local_topic_count = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_bulk_data(bulk_transfer_buffer, max_size_in_bytes, &local_bytes_returned, &local_topic_count);
*returned_length_in_bytes = (int)local_bytes_returned;
*topic_count = (int)local_topic_count;
rc = channel->get_bulk_data(bulk_transfer_buffer, max_size_in_bytes,
&local_bytes_returned, &local_topic_count);
*returned_length_in_bytes = (int) local_bytes_returned;
*topic_count = (int) local_topic_count;
return rc;
}
src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
+47 -30
View File
@@ -52,7 +52,7 @@ using namespace px4muorb;
static char *_TopicNameBuffer = 0;
static const int32_t _MAX_TOPIC_NAME_BUFFER = 256;
static uint8_t *_DataBuffer = 0;
static uint8_t *_DataBuffer = 0;
static const uint32_t _MAX_DATA_BUFFER_SIZE = 2048;
static bool _Initialized = false;
@@ -61,7 +61,8 @@ static bool _Initialized = false;
// hence we are trying to allocation 64K of byte buffers.
static const uint32_t _MAX_TOPIC_DATA_BUFFER_SIZE = 1024;
static const uint32_t _MAX_TOPICS = 64;
static const uint32_t _MAX_BULK_TRANSFER_BUFFER_SIZE = _MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS;
static const uint32_t _MAX_BULK_TRANSFER_BUFFER_SIZE =
_MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS;
static uint8_t *_BulkTransferBuffer = 0;
unsigned char *adsp_changed_index = 0;
@@ -102,12 +103,13 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
// Do this call right after reading to avoid latency here.
timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
uint64_t time_appsproc = ((uint64_t)ts.tv_sec) * 1000000llu + (ts.tv_nsec / 1000);
uint64_t time_appsproc = ((uint64_t) ts.tv_sec) * 1000000llu
+ (ts.tv_nsec / 1000);
close(fd);
uint64_t time_dsp;
int ret = sscanf(buffer, "%llx", &time_dsp);
int ret = sscanf(buffer, "%llx", &time_dsp);
if (ret < 0) {
PX4_ERR("Could not parse DSP timer.");
@@ -119,8 +121,9 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
time_dsp /= 19.2;
// Before casting to in32_t, check if it fits.
uint64_t abs_diff = (time_appsproc > time_dsp)
? (time_appsproc - time_dsp) : (time_dsp - time_appsproc);
uint64_t abs_diff =
(time_appsproc > time_dsp) ?
(time_appsproc - time_dsp) : (time_dsp - time_appsproc);
if (abs_diff > INT32_MAX) {
PX4_ERR("Timer difference too big");
@@ -129,13 +132,14 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
*time_diff_us = time_appsproc - time_dsp;
PX4_DEBUG("found time_dsp: %llu us, time_appsproc: %llu us", time_dsp, time_appsproc);
PX4_DEBUG("found time_diff: %li us, %.6f s", *time_diff_us, ((double)*time_diff_us) / 1e6);
PX4_DEBUG("found time_dsp: %llu us, time_appsproc: %llu us",
time_dsp, time_appsproc);
PX4_DEBUG("found time_diff: %li us, %.6f s",
*time_diff_us, ((double)*time_diff_us) / 1e6);
return 0;
}
px4muorb::KraitRpcWrapper::KraitRpcWrapper()
{
}
@@ -153,21 +157,25 @@ bool px4muorb::KraitRpcWrapper::Initialize()
PX4_DEBUG("%s Now calling rpcmem_alloc...", __FUNCTION__);
_BulkTransferBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID, MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t));
_BulkTransferBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t));
rc = (_BulkTransferBuffer != NULL) ? true : false;
if (!rc) {
PX4_ERR("%s rpcmem_alloc failed! for bulk transfer buffers", __FUNCTION__);
PX4_ERR("%s rpcmem_alloc failed! for bulk transfer buffers",
__FUNCTION__);
return rc;
} else {
PX4_DEBUG("%s rpcmem_alloc passed for Bulk transfer buffers buffer_size: %d addr: %p",
__FUNCTION__, (_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t)), _BulkTransferBuffer);
PX4_DEBUG(
"%s rpcmem_alloc passed for Bulk transfer buffers buffer_size: %d addr: %p",
__FUNCTION__, (_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t)), _BulkTransferBuffer);
}
_TopicNameBuffer = (char *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS, _MAX_TOPIC_NAME_BUFFER * sizeof(char));
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_TOPIC_NAME_BUFFER * sizeof(char));
rc = (_TopicNameBuffer != NULL) ? true : false;
@@ -182,7 +190,8 @@ bool px4muorb::KraitRpcWrapper::Initialize()
// now allocate the data buffer.
_DataBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS, _MAX_DATA_BUFFER_SIZE * sizeof(uint8_t));
MUORB_KRAIT_FASTRPC_MEM_FLAGS,
_MAX_DATA_BUFFER_SIZE * sizeof(uint8_t));
rc = (_DataBuffer != NULL) ? true : false;
@@ -199,7 +208,7 @@ bool px4muorb::KraitRpcWrapper::Initialize()
}
adsp_changed_index = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
MUORB_KRAIT_FASTRPC_MEM_FLAGS, PARAM_BUFFER_SIZE * sizeof(uint8_t));
MUORB_KRAIT_FASTRPC_MEM_FLAGS, PARAM_BUFFER_SIZE * sizeof(uint8_t));
rc = (adsp_changed_index != NULL) ? true : false;
@@ -218,7 +227,8 @@ bool px4muorb::KraitRpcWrapper::Initialize()
// call muorb initialize routine.
if (px4muorb_orb_initialize() != 0) {
PX4_ERR("%s Error calling the uorb fastrpc initalize method..", __FUNCTION__);
PX4_ERR("%s Error calling the uorb fastrpc initalize method..",
__FUNCTION__);
rc = false;
return rc;
}
@@ -233,7 +243,8 @@ bool px4muorb::KraitRpcWrapper::Initialize()
int diff = (time_dsp - time_appsproc);
PX4_DEBUG("time_dsp: %llu us, time appsproc: %llu us, diff: %d us", time_dsp, time_appsproc, diff);
PX4_DEBUG("time_dsp: %llu us, time appsproc: %llu us, diff: %d us",
time_dsp, time_appsproc, diff);
_Initialized = true;
return rc;
@@ -256,7 +267,7 @@ bool px4muorb::KraitRpcWrapper::Terminate()
_DataBuffer = 0;
}
if(adsp_changed_index != NULL) {
if (adsp_changed_index != NULL) {
rpcmem_free(adsp_changed_index);
adsp_changed_index = 0;
}
@@ -275,28 +286,32 @@ int32_t px4muorb::KraitRpcWrapper::RemoveSubscriber(const char *topic)
return (_Initialized ? px4muorb_remove_subscriber(topic) : -1);
}
int32_t px4muorb::KraitRpcWrapper::IsSubscriberPresent(const char *topic, int32_t *status)
int32_t px4muorb::KraitRpcWrapper::IsSubscriberPresent(const char *topic,
int32_t *status)
{
return (_Initialized ? px4muorb_is_subscriber_present(topic, status) : -1);
}
int32_t px4muorb::KraitRpcWrapper::SendData(const char *topic, int32_t length_in_bytes, const uint8_t *data)
int32_t px4muorb::KraitRpcWrapper::SendData(const char *topic,
int32_t length_in_bytes, const uint8_t *data)
{
return (_Initialized ? px4muorb_send_topic_data(topic, data, length_in_bytes) : -1);
return (_Initialized ?
px4muorb_send_topic_data(topic, data, length_in_bytes) : -1);
}
int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic, int32_t *length_in_bytes,
uint8_t **data)
int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic,
int32_t *length_in_bytes, uint8_t **data)
{
int32_t rc = -1;
if (_Initialized) {
rc = px4muorb_receive_msg(msg_type, _TopicNameBuffer, _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE,
length_in_bytes);
rc = px4muorb_receive_msg(msg_type, _TopicNameBuffer,
_MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE,
length_in_bytes);
if (rc == 0) {
*topic = _TopicNameBuffer;
*data = _DataBuffer;
*data = _DataBuffer;
} else {
PX4_ERR("ERROR: Getting data from fastRPC link");
@@ -309,13 +324,15 @@ int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic,
return rc;
}
int32_t px4muorb::KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data, int32_t *length_in_bytes, int32_t *topic_count)
int32_t px4muorb::KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data,
int32_t *length_in_bytes, int32_t *topic_count)
{
int32_t rc = -1;
if (_Initialized) {
//rc = px4muorb_receive_msg( msg_type, _TopicNameBuffer, _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE, length_in_bytes );
rc = px4muorb_receive_bulk_data(_BulkTransferBuffer, _MAX_BULK_TRANSFER_BUFFER_SIZE, length_in_bytes, topic_count);
rc = px4muorb_receive_bulk_data(_BulkTransferBuffer,
_MAX_BULK_TRANSFER_BUFFER_SIZE, length_in_bytes, topic_count);
if (rc == 0) {
*bulk_data = _BulkTransferBuffer;