muorb: file rename and updates

Changed muorb_fastrpc.cpp to px4muorb.cpp to match the name of the library that implements the FastRPC calls. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2026-10-26 04:53:33 +08:00 · 2015-07-24 20:13:17 -07:00
parent f99ed68701
commit b7f1dd9858
8 changed files with 517 additions and 79 deletions
@@ -0,0 +1,173 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 Mark Charlebois. 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 "px4muorb.hpp"
+#include "qurt.h"
+#include "uORBFastRpcChannel.hpp"
+#include "uORBManager.hpp"
+
+#include <px4_middleware.h>
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <map>
+#include <string>
+#include "px4_log.h"
+#include "uORB/topics/sensor_combined.h"
+#include "uORB.h"
+
+#include "HAP_power.h"
+
+#define _ENABLE_MUORB 1
+
+extern "C" {
+	int dspal_main(int argc, const char *argv[]);
+};
+
+
+int px4muorb_orb_initialize()
+{
+	int rc = 0;
+	PX4_WARN("Before calling dspal_entry() method...");
+	HAP_power_request(100, 100, 1000);
+	// registere the fastrpc muorb with uORBManager.
+	uORB::Manager::get_instance()->set_uorb_communicator(uORB::FastRpcChannel::GetInstance());
+	const char *argv[2] = { "dspal", "start" };
+	int argc = 2;
+	dspal_main(argc, argv);
+	PX4_WARN("After calling dspal_entry");
+	return rc;
+}
+
+int px4muorb_add_subscriber(const char *name)
+{
+	int rc = 0;
+	uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
+	channel->AddRemoteSubscriber(name);
+	uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
+
+	if (rxHandler != nullptr) {
+		rc = rxHandler->process_add_subscription(name, 0);
+
+		if (rc != OK) {
+			channel->RemoveRemoteSubscriber(name);
+		}
+
+	} else {
+		rc = -1;
+	}
+
+	return rc;
+}
+
+int px4muorb_remove_subscriber(const char *name)
+{
+	int rc = 0;
+	uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
+	channel->RemoveRemoteSubscriber(name);
+	uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
+
+	if (rxHandler != nullptr) {
+		rc = rxHandler->process_remove_subscription(name);
+
+	} else {
+		rc = -1;
+	}
+
+	return rc;
+
+}
+
+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);
+
+	} else {
+		rc = -1;
+	}
+
+	return rc;
+}
+
+int px4muorb_is_subscriber_present(const char *topic_name, int *status)
+{
+	int rc = 0;
+	int32_t local_status = 0;
+	uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
+	rc = channel->is_subscriber_present(topic_name, &local_status);
+
+	if (rc == 0) {
+		*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 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;
+	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 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;
+	return rc;
+}
+
+int px4muorb_unblock_recieve_msg(void)
+{
+	int rc = 0;
+	uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
+	rc = channel->unblock_get_data_method();
+	return rc;
+}