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Modify uORB.cpp main file and CMakeLists.txt for NuttX protected build

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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2020-12-29 12:54:46 +02:00
parent 92877e1f35
commit e3b024c15d
2 changed files with 67 additions and 16 deletions
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49
platforms/common/uORB/CMakeLists.txt
View File

@ -34,7 +34,9 @@
# this includes the generated topics directory
include_directories(${CMAKE_CURRENT_BINARY_DIR})
px4_add_library(uORB
set(SRCS)
set(SRCS_COMMON
ORBSet.hpp
Publication.hpp
PublicationMulti.hpp
@ -47,15 +49,48 @@ px4_add_library(uORB
uORB.h
uORBCommon.hpp
uORBCommunicator.hpp
uORBDeviceMaster.cpp
uORBDeviceMaster.hpp
uORBDeviceNode.cpp
uORBDeviceNode.hpp
uORBManager.cpp
uORBManager.hpp
uORBUtils.cpp
uORBUtils.hpp
)
uORBDeviceMaster.hpp
uORBDeviceNode.hpp
)
set(SRCS_KERNEL
uORBDeviceMaster.cpp
uORBDeviceNode.cpp
uORBManager.cpp
)
set(SRCS_USER
uORBManagerUsr.cpp
)
if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
# This is the kernel side library in nuttx kernel/protected build
px4_add_library(uORB_kernel
${SRCS_COMMON}
${SRCS_KERNEL}
)
# Sources for the user side library in nuttx kernel/protected build
list(APPEND SRCS
${SRCS_COMMON}
${SRCS_USER}
)
target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -D__KERNEL__)
else()
# Sources for all other targets (flat build, posix...)
list(APPEND SRCS
${SRCS_COMMON}
${SRCS_KERNEL}
)
endif()
px4_add_library(uORB
${SRCS}
)
target_compile_options(uORB PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
target_link_libraries(uORB PRIVATE cdev uorb_msgs)

34
platforms/common/uORB/uORB.cpp
View File

@ -41,6 +41,10 @@
#include "uORBManager.hpp"
#include "uORBCommon.hpp"
#ifdef __PX4_NUTTX
#include <sys/boardctl.h>
#endif
static uORB::DeviceMaster *g_dev = nullptr;
int uorb_start(void)
@ -56,6 +60,7 @@ int uorb_start(void)
return -ENOMEM;
}
#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
/* create the driver */
g_dev = uORB::Manager::get_instance()->get_device_master();
@ -63,11 +68,15 @@ int uorb_start(void)
return -errno;
}
#endif
return OK;
}
int uorb_status(void)
{
#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
if (g_dev != nullptr) {
g_dev->printStatistics();
@ -75,11 +84,16 @@ int uorb_status(void)
PX4_INFO("uorb is not running");
}
#else
boardctl(ORBIOCDEVMASTERCMD, ORB_DEVMASTER_STATUS);
#endif
return OK;
}
int uorb_top(char **topic_filter, int num_filters)
{
#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
if (g_dev != nullptr) {
g_dev->showTop(topic_filter, num_filters);
@ -87,10 +101,12 @@ int uorb_top(char **topic_filter, int num_filters)
PX4_INFO("uorb is not running");
}
#else
boardctl(ORBIOCDEVMASTERCMD, ORB_DEVMASTER_TOP);
#endif
return OK;
}
orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
{
return uORB::Manager::get_instance()->orb_advertise(meta, data);
@ -117,42 +133,42 @@ int orb_unadvertise(orb_advert_t handle)
return uORB::Manager::get_instance()->orb_unadvertise(handle);
}
int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
{
return uORB::Manager::get_instance()->orb_publish(meta, handle, data);
}
int orb_subscribe(const struct orb_metadata *meta)
int orb_subscribe(const struct orb_metadata *meta)
{
return uORB::Manager::get_instance()->orb_subscribe(meta);
}
int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
{
return uORB::Manager::get_instance()->orb_subscribe_multi(meta, instance);
}
int orb_unsubscribe(int handle)
int orb_unsubscribe(int handle)
{
return uORB::Manager::get_instance()->orb_unsubscribe(handle);
}
int orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
int orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
{
return uORB::Manager::get_instance()->orb_copy(meta, handle, buffer);
}
int orb_check(int handle, bool *updated)
int orb_check(int handle, bool *updated)
{
return uORB::Manager::get_instance()->orb_check(handle, updated);
}
int orb_exists(const struct orb_metadata *meta, int instance)
int orb_exists(const struct orb_metadata *meta, int instance)
{
return uORB::Manager::get_instance()->orb_exists(meta, instance);
}
int orb_group_count(const struct orb_metadata *meta)
int orb_group_count(const struct orb_metadata *meta)
{
unsigned instance = 0;