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create uORB::PublicationMulti for multi publications

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This commit is contained in:
Daniel Agar
2019-08-08 21:01:56 -04:00
parent 0a0c404a08
commit e8a11086eb
13 changed files with 193 additions and 69 deletions
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src/modules/uORB/CMakeLists.txt
+16
View File
@@ -41,14 +41,30 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to plat
MAIN uorb
STACK_MAIN 2100
SRCS
ORBSet.hpp
Publication.hpp
PublicationMulti.hpp
PublicationQueued.hpp
Subscription.cpp
Subscription.hpp
SubscriptionCallback.hpp
SubscriptionInterval.hpp
SubscriptionPollable.cpp
SubscriptionPollable.hpp
uORB.cpp
uORB.h
uORBCommon.hpp
uORBCommunicator.hpp
uORBDeviceMaster.cpp
uORBDeviceMaster.hpp
uORBDeviceNode.cpp
uORBDeviceNode.hpp
uORBMain.cpp
uORBManager.cpp
uORBManager.hpp
uORBTopics.h
uORBUtils.cpp
uORBUtils.hpp
DEPENDS
cdev
uorb_msgs
src/modules/uORB/Publication.hpp
+11 -29
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2019 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
@@ -38,8 +38,9 @@
#pragma once
#include <uORB/uORB.h>
#include <px4_defines.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
namespace uORB
{
@@ -56,10 +57,8 @@ public:
* Constructor
*
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
* @param priority The priority for multi pub/sub, 0 means don't publish as multi
*/
Publication(const orb_metadata *meta, uint8_t priority = 0) : _meta(meta), _priority(priority) {}
Publication(const orb_metadata *meta) : _meta(meta) {}
~Publication() { orb_unadvertise(_handle); }
/**
@@ -68,44 +67,29 @@ public:
*/
bool publish(const T &data)
{
bool updated = false;
if (_handle != nullptr) {
updated = (orb_publish(_meta, _handle, &data) == PX4_OK);
return (orb_publish(_meta, _handle, &data) == PX4_OK);
} else {
orb_advert_t handle = nullptr;
if (_priority > 0) {
int instance;
handle = orb_advertise_multi(_meta, &data, &instance, _priority);
} else {
handle = orb_advertise(_meta, &data);
}
orb_advert_t handle = orb_advertise(_meta, &data);
if (handle != nullptr) {
_handle = handle;
updated = true;
} else {
PX4_ERR("%s advert fail", _meta->o_name);
return true;
}
}
return updated;
return false;
}
protected:
const orb_metadata *_meta;
orb_advert_t _handle{nullptr};
const uint8_t _priority;
};
/**
* The publication class with data.
* The publication class with data embedded.
*/
template<typename T>
class PublicationData : public Publication<T>
@@ -114,11 +98,9 @@ public:
/**
* Constructor
*
* @param meta The uORB metadata (usually from
* the ORB_ID() macro) for the topic.
* @param priority The priority for multi pub, 0-based.
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
*/
PublicationData(const orb_metadata *meta, uint8_t priority = 0) : Publication<T>(meta, priority) {}
PublicationData(const orb_metadata *meta) : Publication<T>(meta) {}
~PublicationData() = default;
T &get() { return _data; }
src/modules/uORB/PublicationMulti.hpp
+133
View File
@@ -0,0 +1,133 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
/**
* @file Publication.hpp
*
*/
#pragma once
#include <px4_defines.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
namespace uORB
{
/**
* Base publication multi wrapper class
*/
template<typename T>
class PublicationMulti
{
public:
/**
* Constructor
*
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
* @param priority The priority for multi pub/sub, 0 means don't publish as multi
*/
PublicationMulti(const orb_metadata *meta, uint8_t priority = ORB_PRIO_DEFAULT) :
_meta(meta),
_priority(priority)
{}
~PublicationMulti() { orb_unadvertise(_handle); }
/**
* Publish the struct
* @param data The uORB message struct we are updating.
*/
bool publish(const T &data)
{
if (_handle != nullptr) {
return (orb_publish(_meta, _handle, &data) == PX4_OK);
} else {
int instance = 0;
orb_advert_t handle = orb_advertise_multi(_meta, &data, &instance, _priority);
if (handle != nullptr) {
_handle = handle;
return true;
}
}
return false;
}
protected:
const orb_metadata *_meta;
orb_advert_t _handle{nullptr};
const uint8_t _priority;
};
/**
* The publication multi class with data embedded.
*/
template<typename T>
class PublicationMultiData : public PublicationMulti<T>
{
public:
/**
* Constructor
*
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
* @param priority The priority for multi pub
*/
PublicationMultiData(const orb_metadata *meta, uint8_t priority = ORB_PRIO_DEFAULT) :
PublicationMulti<T>(meta, priority)
{}
~PublicationMultiData() = default;
T &get() { return _data; }
void set(const T &data) { _data = data; }
// Publishes the embedded struct.
bool update() { return PublicationMulti<T>::publish(_data); }
bool update(const T &data)
{
_data = data;
return PublicationMulti<T>::publish(_data);
}
private:
T _data{};
};
} // namespace uORB
src/modules/uORB/PublicationQueued.hpp
+6 -12
View File
@@ -38,8 +38,9 @@
#pragma once
#include <uORB/uORB.h>
#include <px4_defines.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
namespace uORB
{
@@ -55,11 +56,9 @@ public:
/**
* Constructor
*
* @param meta The uORB metadata (usually from
* the ORB_ID() macro) for the topic.
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
*/
PublicationQueued(const orb_metadata *meta) : _meta(meta) {}
~PublicationQueued() { orb_unadvertise(_handle); }
/**
@@ -68,24 +67,19 @@ public:
*/
bool publish(const T &data)
{
bool updated = false;
if (_handle != nullptr) {
updated = (orb_publish(_meta, _handle, &data) == PX4_OK);
return (orb_publish(_meta, _handle, &data) == PX4_OK);
} else {
orb_advert_t handle = orb_advertise_queue(_meta, &data, T::ORB_QUEUE_LENGTH);
if (handle != nullptr) {
_handle = handle;
updated = true;
} else {
PX4_ERR("%s advertise failed", _meta->o_name);
return true;
}
}
return updated;
return false;
}
protected: