initial board and platform support for the ModalAI VOXL 2 (POSIX + QuRT)

src/include/visibility.h

@@ -91,11 +91,13 @@
 /* We can't poison clock_settime/clock_gettime because they are
  * used in DriverFramework. */
 
-#if !defined(__PX4_NUTTX)
+#if !defined(__PX4_NUTTX) && !defined(__PX4_QURT)
 #include <pthread.h>
 // We can't include this for NuttX otherwise we get conflicts for read/write
 // symbols in cannode.
-#endif // !defined(__PX4_NUTTX)
+// We can't include this for Qurt because it uses it's own thread primitives
+#endif // !defined(__PX4_NUTTX) && !defined(__PX4_QURT)
+#define system_pthread_cond_timedwait pthread_cond_timedwait
 /* We can't poison pthread_cond_timedwait because it seems to be used in the
  * <string> include. */
 

src/lib/parameters/CMakeLists.txt

@@ -82,6 +82,7 @@ endif()
 if(CONFIG_BOARD_IO)
 	set(board_with_io_arg --board-with-io)
 endif()
+
 add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_params_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py

src/modules/muorb/Kconfig

@@ -0,0 +1,3 @@
+menu "MUORB"
+rsource "*/Kconfig"
+endmenu #MUORB

src/modules/muorb/apps/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2022 ModalAI, Inc. 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 modules__muorb__apps
+	MAIN muorb
+	COMPILE_FLAGS
+		-Wno-cast-align # TODO: fix and enable
+	SRCS
+		uORBAppsProtobufChannel.cpp
+		muorb_main.cpp
+	)

src/modules/muorb/apps/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_MUORB_APPS	
+        bool "apps"
+        default n
+        ---help---
+                Enable support for muorb apps

src/modules/muorb/apps/fc_sensor.h

@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. 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.
+ *
+ ****************************************************************************/
+
+#ifndef FC_SENSOR_H
+#define FC_SENSOR_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef void (*fc_receive_cb)(const char *topic,
+			      const uint8_t *data,
+			      uint32_t length_in_bytes);
+typedef void (*fc_advertise_cb)(const char *topic);
+typedef void (*fc_add_subscription_cb)(const char *topic);
+typedef void (*fc_remove_subscription_cb)(const char *topic);
+
+typedef struct {
+	fc_receive_cb               rx_callback;
+	fc_advertise_cb             ad_callback;
+	fc_add_subscription_cb      sub_callback;
+	fc_remove_subscription_cb   remove_sub_callback;
+} fc_callbacks;
+
+int fc_sensor_initialize(bool enable_debug_messages, fc_callbacks *callbacks);
+int fc_sensor_advertise(const char *topic);
+int fc_sensor_subscribe(const char *topic);
+int fc_sensor_unsubscribe(const char *topic);
+int fc_sensor_send_data(const char *topic,
+			const uint8_t *data,
+			uint32_t length_in_bytes);
+#ifdef __cplusplus
+}
+#endif
+
+#endif // FC_SENSOR_H

src/modules/muorb/apps/muorb_main.cpp

@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 ModalAI, Inc. 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 "uORBAppsProtobufChannel.hpp"
+
+extern "C" { __EXPORT int muorb_main(int argc, char *argv[]); }
+
+static void usage()
+{
+	PX4_INFO("Usage: muorb 'start', 'stop', 'status'");
+}
+
+static bool enable_debug = false;
+
+int
+muorb_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage();
+		return -EINVAL;
+	}
+
+	// TODO: Add an optional  start parameter to control debug messages
+	if (!strcmp(argv[1], "start")) {
+		if (uORB::AppsProtobufChannel::isInstance()) {
+			PX4_WARN("muorb already started");
+
+		} else {
+			// Register the protobuf channel with UORB.
+			uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();
+
+			if (channel) {
+				if (channel->Initialize(enable_debug)) {
+					return OK;
+				}
+			}
+		}
+
+	} else if (!strcmp(argv[1], "stop")) {
+		if (uORB::AppsProtobufChannel::isInstance() == false) {
+			PX4_WARN("muorb not running");
+		}
+
+		return OK;
+
+	} else if (!strcmp(argv[1], "status")) {
+		if (uORB::AppsProtobufChannel::isInstance()) {
+			PX4_INFO("muorb initialized");
+
+		} else {
+			PX4_INFO("muorb not running");
+		}
+
+		return OK;
+	}
+
+	usage();
+	return -EINVAL;
+}

src/modules/muorb/apps/uORBAppsProtobufChannel.cpp

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. 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 "uORBAppsProtobufChannel.hpp"
+#include <string.h>
+
+#include "fc_sensor.h"
+
+// Initialize the static members
+uORB::AppsProtobufChannel *uORB::AppsProtobufChannel::_InstancePtr = nullptr;
+
+void uORB::AppsProtobufChannel::ReceiveCallback(const char *topic,
+		const uint8_t *data,
+		uint32_t length_in_bytes)
+{
+	if (strcmp(topic, "slpi_debug") == 0) {
+		PX4_INFO("SLPI: %s", (const char *) data);
+
+	} else if (strcmp(topic, "slpi_error") == 0) {
+		PX4_ERR("SLPI: %s", (const char *) data);
+
+	} else {
+		PX4_INFO("Got received data callback for topic %s", topic);
+	}
+}
+
+void uORB::AppsProtobufChannel::AdvertiseCallback(const char *topic)
+{
+	PX4_INFO("Got advertisement callback for topic %s", topic);
+}
+
+void uORB::AppsProtobufChannel::SubscribeCallback(const char *topic)
+{
+	PX4_INFO("Got subscription callback for topic %s", topic);
+}
+
+void uORB::AppsProtobufChannel::UnsubscribeCallback(const char *topic)
+{
+	PX4_INFO("Got remove subscription callback for topic %s", topic);
+}
+
+bool uORB::AppsProtobufChannel::Initialize(bool enable_debug)
+{
+	fc_callbacks cb = {&ReceiveCallback, &AdvertiseCallback,
+			   &SubscribeCallback, &UnsubscribeCallback
+			  };
+
+	if (fc_sensor_initialize(enable_debug, &cb) != 0) {
+		PX4_ERR("Error calling the muorb protobuf initalize method");
+
+	} else {
+		PX4_INFO("muorb protobuf initalize method succeeded");
+	}
+
+	return true;
+}

src/modules/muorb/apps/uORBAppsProtobufChannel.hpp

@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. 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.
+ *
+ ****************************************************************************/
+
+#ifndef _uORBAppsProtobufChannel_hpp_
+#define _uORBAppsProtobufChannel_hpp_
+
+#include <stdint.h>
+#include <string>
+#include <px4_platform_common/log.h>
+
+namespace uORB
+{
+class AppsProtobufChannel;
+}
+
+class uORB::AppsProtobufChannel
+{
+public:
+	/**
+	 * static method to get the IChannel Implementor.
+	 */
+	static uORB::AppsProtobufChannel *GetInstance()
+	{
+		if (_InstancePtr == nullptr) {
+			_InstancePtr = new uORB::AppsProtobufChannel();
+		}
+
+		return _InstancePtr;
+	}
+
+	/**
+	 * Static method to check if there is an instance.
+	 */
+	static bool isInstance()
+	{
+		return (_InstancePtr != nullptr);
+	}
+
+	bool Initialize(bool enable_debug);
+
+private: // data members
+	static uORB::AppsProtobufChannel           *_InstancePtr;
+
+private://class members.
+	/// constructor.
+	AppsProtobufChannel() {};
+
+	static void ReceiveCallback(const char *topic,
+				    const uint8_t *data,
+				    uint32_t length_in_bytes);
+	static void AdvertiseCallback(const char *topic);
+	static void SubscribeCallback(const char *topic);
+	static void UnsubscribeCallback(const char *topic);
+
+};
+
+#endif /* _uORBAppsProtobufChannel_hpp_ */

src/modules/muorb/slpi/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2022 ModalAI, Inc. 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_library(modules__muorb__slpi
+	uORBProtobufChannel.cpp
+)
+#target_include_directories(modules__muorb__slpi PRIVATE ${PX4_SOURCE_DIR}/src/modules/uORB)

src/modules/muorb/slpi/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_MUORB_SLPI
+        bool "muorb_slpi"
+        default n
+        ---help---
+                Enable support for muorb slpi

src/modules/muorb/slpi/uORBProtobufChannel.cpp

@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. 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 "uORBProtobufChannel.hpp"
+
+// TODO: Move this out of here once we have it placed properly
+extern "C" void HAP_debug(const char *msg, int level, const char *filename, int line);
+
+int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
+{
+	HAP_debug("Hello, world!", 1, "test", 0);
+
+	return 0;
+}
+
+int px4muorb_topic_advertised(const char *topic_name)
+{
+	return 0;
+}
+
+int px4muorb_add_subscriber(const char *topic_name)
+{
+	return 0;
+}
+
+int px4muorb_remove_subscriber(const char *topic_name)
+{
+	return 0;
+}
+
+int px4muorb_send_topic_data(const char *topic_name, const uint8_t *data,
+			     int data_len_in_bytes)
+{
+	return 0;
+}

src/modules/muorb/slpi/uORBProtobufChannel.hpp

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. 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.
+ *
+ ****************************************************************************/
+#ifndef _uORBProtobufChannel_hpp_
+#define _uORBProtobufChannel_hpp_
+
+#include <stdint.h>
+#include <stdio.h>
+
+//#include <unistd.h>
+
+// TODO: This has to be defined in the slpi_proc build and in the PX4 build.
+// Make it accessible from one file to both builds.
+typedef struct {
+	int (*advertise_func_ptr)(const char *topic_name);
+	int (*subscribe_func_ptr)(const char *topic_name);
+	int (*unsubscribe_func_ptr)(const char *topic_name);
+	int (*topic_data_func_ptr)(const char *name, const uint8_t *data, int data_len_in_bytes);
+	// device::SPI::_config_spi_bus_func_t config_spi_bus;
+	// device::SPI::_spi_transfer_func_t spi_transfer;
+	int (*_config_spi_bus_func_t)();
+	int (*_spi_transfer_func_t)(int, const uint8_t *, uint8_t *, const unsigned);
+	// device::I2C::_config_i2c_bus_func_t config_i2c_bus;
+	// device::I2C::_set_i2c_address_func_t set_i2c_address;
+	// device::I2C::_i2c_transfer_func_t i2c_transfer;
+	int (*_config_i2c_bus_func_t)(uint8_t, uint8_t, uint32_t);
+	int (*_set_i2c_address_func_t)(int, uint8_t);
+	int (*_i2c_transfer_func_t)(int, const uint8_t *, const unsigned, uint8_t *, const unsigned);
+	// open_uart_func_t open_uart_func;
+	// write_uart_func_t write_uart_func;
+	// read_uart_func_t read_uart_func;
+	int (*open_uart_func_t)(uint8_t, uint32_t);
+	int (*write_uart_func_t)(int, const void *, size_t);
+	int (*read_uart_func_t)(int,  void *, size_t);
+	int (*register_interrupt_callback)(int (*)(int, void *, void *), void *arg);
+} fc_func_ptrs;
+
+extern "C" {
+
+	int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us) __EXPORT;
+
+	int px4muorb_topic_advertised(const char *name) __EXPORT;
+
+	int px4muorb_add_subscriber(const char *name) __EXPORT;
+
+	int px4muorb_remove_subscriber(const char *name) __EXPORT;
+
+	int px4muorb_send_topic_data(const char *name, const uint8_t *data, int data_len_in_bytes) __EXPORT;
+}
+
+#endif /* _uORBProtobufChannel_hpp_ */