uORB: Major refactoring

uORB was refactored in order to support the MuORB changes required for QURT. Those changes wil be added in a subsequent commit. The files are split out by posix and nuttx so the changes are visible. When this has been tested, the files can be re-merged and re-tested. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2026-06-29 06:30:34 +08:00 · 2015-05-05 10:52:15 -07:00
parent e24405d374
commit e33a164ddb
17 changed files with 3284 additions and 2601 deletions
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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 "uORBDevices.hpp"
+#include "uORB.h"
+#include "uORBTest_UnitTest.hpp"
+#include "uORBCommon.hpp"
+
+extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
+
+static uORB::DeviceMaster *g_dev = nullptr;
+static void usage()
+{
+  warnx("Usage: uorb 'start', 'test', 'latency_test' or 'status'");
+}
+
+
+int
+uorb_main(int argc, char *argv[])
+{
+  if (argc < 2) {
+    usage();
+    return -EINVAL;
+  }
+
+  /*
+   * Start/load the driver.
+   *
+   * XXX it would be nice to have a wrapper for this...
+   */
+  if (!strcmp(argv[1], "start")) {
+
+    if (g_dev != nullptr) {
+      warnx("already loaded");
+      /* user wanted to start uorb, its already running, no error */
+      return 0;
+    }
+
+    /* create the driver */
+    g_dev = new uORB::DeviceMaster(uORB::PUBSUB);
+
+    if (g_dev == nullptr) {
+      warnx("driver alloc failed");
+      return -ENOMEM;
+    }
+
+    if (OK != g_dev->init()) {
+      warnx("driver init failed");
+      delete g_dev;
+      g_dev = nullptr;
+      return -EIO;
+    }
+
+    return OK;
+  }
+
+  /*
+   * Test the driver/device.
+   */
+  if (!strcmp(argv[1], "test"))
+  {
+    uORBTest::UnitTest t;
+    return t.test();
+  }
+
+  /*
+   * Test the latency.
+   */
+  if (!strcmp(argv[1], "latency_test")) {
+
+    uORBTest::UnitTest t;
+    if (argc > 2 && !strcmp(argv[2], "medium")) {
+      return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
+    } else if (argc > 2 && !strcmp(argv[2], "large")) {
+      return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
+    } else {
+      return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
+    }
+  }
+
+  /*
+   * Print driver information.
+   */
+  if (!strcmp(argv[1], "status"))
+  {
+    return OK;
+  }
+
+  usage();
+  errx(-EINVAL, "unrecognized command, try 'start', 'test', 'latency_test' or 'status'");
+}
+
+