mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 22:00:35 +08:00
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>
This commit is contained in:
Mark Charlebois
@@ -0,0 +1,296 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 <sys/types.h>
|
||||
#include <sys/stat.h>
|
||||
#include <stdarg.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include "uORBUtils.hpp"
|
||||
#include "uORBManager.hpp"
|
||||
#include "uORBDevices.hpp"
|
||||
#include "px4_config.h"
|
||||
|
||||
|
||||
//========================= Static initializations =================
|
||||
uORB::Manager uORB::Manager::_Instance;
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
//-----------------------------------------------------------------------------
|
||||
uORB::Manager* uORB::Manager::get_instance()
|
||||
{
|
||||
return &_Instance;
|
||||
}
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
//-----------------------------------------------------------------------------
|
||||
uORB::Manager::Manager()
|
||||
{
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
|
||||
{
|
||||
/*
|
||||
* Generate the path to the node and try to open it.
|
||||
*/
|
||||
char path[orb_maxpath];
|
||||
int inst = instance;
|
||||
int ret = uORB::Utils::node_mkpath(path, PUBSUB, meta, &inst);
|
||||
|
||||
if (ret != OK) {
|
||||
errno = -ret;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
struct stat buffer;
|
||||
return stat(path, &buffer);
|
||||
}
|
||||
|
||||
orb_advert_t uORB::Manager::orb_advertise(const struct orb_metadata *meta, const void *data)
|
||||
{
|
||||
//warnx("orb_advertise meta = %p", meta);
|
||||
return orb_advertise_multi(meta, data, nullptr, ORB_PRIO_DEFAULT);
|
||||
}
|
||||
|
||||
orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, int priority)
|
||||
{
|
||||
int result, fd;
|
||||
orb_advert_t advertiser;
|
||||
|
||||
//warnx("orb_advertise_multi meta = %p\n", meta);
|
||||
|
||||
/* open the node as an advertiser */
|
||||
fd = node_open(PUBSUB, meta, data, true, instance, priority);
|
||||
if (fd == ERROR) {
|
||||
warnx("node_open as advertiser failed.");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* get the advertiser handle and close the node */
|
||||
result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
|
||||
px4_close(fd);
|
||||
if (result == ERROR) {
|
||||
warnx("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* the advertiser must perform an initial publish to initialise the object */
|
||||
result = orb_publish(meta, advertiser, data);
|
||||
if (result == ERROR) {
|
||||
warnx("orb_publish failed");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
return advertiser;
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_subscribe(const struct orb_metadata *meta)
|
||||
{
|
||||
return node_open(PUBSUB, meta, nullptr, false);
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
|
||||
{
|
||||
int inst = instance;
|
||||
return node_open(PUBSUB, meta, nullptr, false, &inst);
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_unsubscribe(int fd)
|
||||
{
|
||||
return px4_close(fd);
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
|
||||
{
|
||||
return uORB::DeviceNode::publish(meta, handle, data);
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
|
||||
{
|
||||
int ret;
|
||||
|
||||
ret = px4_read(handle, buffer, meta->o_size);
|
||||
|
||||
if (ret < 0)
|
||||
return ERROR;
|
||||
|
||||
if (ret != (int)meta->o_size) {
|
||||
errno = EIO;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_check(int handle, bool *updated)
|
||||
{
|
||||
return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_stat(int handle, uint64_t *time)
|
||||
{
|
||||
return px4_ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_priority(int handle, int *priority)
|
||||
{
|
||||
return px4_ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
|
||||
}
|
||||
|
||||
int uORB::Manager::orb_set_interval(int handle, unsigned interval)
|
||||
{
|
||||
return px4_ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
|
||||
}
|
||||
|
||||
|
||||
int uORB::Manager::node_advertise
|
||||
(
|
||||
const struct orb_metadata *meta,
|
||||
int *instance,
|
||||
int priority
|
||||
)
|
||||
{
|
||||
int fd = -1;
|
||||
int ret = ERROR;
|
||||
|
||||
/* fill advertiser data */
|
||||
const struct orb_advertdata adv = { meta, instance, priority };
|
||||
|
||||
/* open the control device */
|
||||
fd = px4_open(TOPIC_MASTER_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0)
|
||||
goto out;
|
||||
|
||||
/* advertise the object */
|
||||
ret = px4_ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)&adv);
|
||||
|
||||
/* it's PX4_OK if it already exists */
|
||||
if ((PX4_OK != ret) && (EEXIST == errno)) {
|
||||
ret = PX4_OK;
|
||||
}
|
||||
|
||||
out:
|
||||
|
||||
if (fd >= 0)
|
||||
px4_close(fd);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int uORB::Manager::node_open
|
||||
(
|
||||
Flavor f,
|
||||
const struct orb_metadata *meta,
|
||||
const void *data,
|
||||
bool advertiser,
|
||||
int *instance,
|
||||
int priority
|
||||
)
|
||||
{
|
||||
char path[orb_maxpath];
|
||||
int fd, ret;
|
||||
|
||||
/*
|
||||
* If meta is null, the object was not defined, i.e. it is not
|
||||
* known to the system. We can't advertise/subscribe such a thing.
|
||||
*/
|
||||
if (nullptr == meta) {
|
||||
errno = ENOENT;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/*
|
||||
* Advertiser must publish an initial value.
|
||||
*/
|
||||
if (advertiser && (data == nullptr)) {
|
||||
errno = EINVAL;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/*
|
||||
* Generate the path to the node and try to open it.
|
||||
*/
|
||||
|
||||
// FIXME - if *instance is uninitialized, why is this being called? Seems risky and
|
||||
// its definiately a waste. This is the case in muli-topic test.
|
||||
ret = uORB::Utils::node_mkpath(path, f, meta, instance);
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
errno = -ret;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* open the path as either the advertiser or the subscriber */
|
||||
fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
|
||||
|
||||
/* if we want to advertise and the node existed, we have to re-try again */
|
||||
if ((fd >= 0) && (instance != nullptr) && (advertiser)) {
|
||||
/* close the fd, we want a new one */
|
||||
px4_close(fd);
|
||||
|
||||
/* the node_advertise call will automatically go for the next free entry */
|
||||
fd = -1;
|
||||
}
|
||||
|
||||
/* we may need to advertise the node... */
|
||||
if (fd < 0) {
|
||||
|
||||
/* try to create the node */
|
||||
ret = node_advertise(meta, instance, priority);
|
||||
|
||||
if (ret == PX4_OK) {
|
||||
/* update the path, as it might have been updated during the node_advertise call */
|
||||
ret = uORB::Utils::node_mkpath(path, f, meta, instance);
|
||||
|
||||
if (ret != PX4_OK) {
|
||||
errno = -ret;
|
||||
return ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
/* on success, try the open again */
|
||||
if (ret == PX4_OK) {
|
||||
fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
|
||||
}
|
||||
}
|
||||
|
||||
if (fd < 0) {
|
||||
errno = EIO;
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* everything has been OK, we can return the handle now */
|
||||
return fd;
|
||||
}
|
||||
Reference in New Issue
Block a user