mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 06:20:34 +08:00
uORBManager: astyle
This commit is contained in:
Ban Siesta
@@ -48,349 +48,368 @@ uORB::Manager uORB::Manager::_Instance;
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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uORB::Manager* uORB::Manager::get_instance()
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uORB::Manager *uORB::Manager::get_instance()
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{
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return &_Instance;
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return &_Instance;
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}
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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uORB::Manager::Manager()
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: _comm_channel( nullptr )
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: _comm_channel(nullptr)
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{
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}
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int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
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{
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/*
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* Generate the path to the node and try to open it.
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*/
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char path[orb_maxpath];
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int inst = instance;
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int ret = uORB::Utils::node_mkpath(path, PUBSUB, meta, &inst);
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/*
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* Generate the path to the node and try to open it.
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*/
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char path[orb_maxpath];
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int inst = instance;
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int ret = uORB::Utils::node_mkpath(path, PUBSUB, meta, &inst);
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if (ret != OK) {
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errno = -ret;
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return ERROR;
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}
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if (ret != OK) {
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errno = -ret;
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return ERROR;
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}
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return px4_access(path, F_OK);
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return px4_access(path, F_OK);
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}
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orb_advert_t uORB::Manager::orb_advertise(const struct orb_metadata *meta, const void *data)
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{
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//warnx("orb_advertise meta = %p", meta);
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return orb_advertise_multi(meta, data, nullptr, ORB_PRIO_DEFAULT);
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//warnx("orb_advertise meta = %p", meta);
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return orb_advertise_multi(meta, data, nullptr, ORB_PRIO_DEFAULT);
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}
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orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, int priority)
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orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
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int priority)
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{
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int result, fd;
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orb_advert_t advertiser;
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int result, fd;
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orb_advert_t advertiser;
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//warnx("orb_advertise_multi meta = %p\n", meta);
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//warnx("orb_advertise_multi meta = %p\n", meta);
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/* open the node as an advertiser */
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fd = node_open(PUBSUB, meta, data, true, instance, priority);
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if (fd == ERROR) {
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warnx("node_open as advertiser failed.");
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return nullptr;
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}
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/* open the node as an advertiser */
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fd = node_open(PUBSUB, meta, data, true, instance, priority);
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/* get the advertiser handle and close the node */
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result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
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px4_close(fd);
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if (result == ERROR) {
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warnx("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
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return nullptr;
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}
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if (fd == ERROR) {
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warnx("node_open as advertiser failed.");
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return nullptr;
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}
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/* the advertiser must perform an initial publish to initialise the object */
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result = orb_publish(meta, advertiser, data);
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if (result == ERROR) {
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warnx("orb_publish failed");
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return nullptr;
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}
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/* get the advertiser handle and close the node */
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result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
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px4_close(fd);
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return advertiser;
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if (result == ERROR) {
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warnx("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
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return nullptr;
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}
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/* the advertiser must perform an initial publish to initialise the object */
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result = orb_publish(meta, advertiser, data);
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if (result == ERROR) {
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warnx("orb_publish failed");
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return nullptr;
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}
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return advertiser;
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}
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int uORB::Manager::orb_subscribe(const struct orb_metadata *meta)
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{
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return node_open(PUBSUB, meta, nullptr, false);
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return node_open(PUBSUB, meta, nullptr, false);
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}
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int uORB::Manager::orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
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{
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int inst = instance;
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return node_open(PUBSUB, meta, nullptr, false, &inst);
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int inst = instance;
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return node_open(PUBSUB, meta, nullptr, false, &inst);
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}
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int uORB::Manager::orb_unsubscribe(int fd)
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{
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return px4_close(fd);
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return px4_close(fd);
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}
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int uORB::Manager::orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
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{
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return uORB::DeviceNode::publish(meta, handle, data);
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return uORB::DeviceNode::publish(meta, handle, data);
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}
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int uORB::Manager::orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
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{
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int ret;
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int ret;
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ret = px4_read(handle, buffer, meta->o_size);
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ret = px4_read(handle, buffer, meta->o_size);
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if (ret < 0)
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return ERROR;
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if (ret < 0) {
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return ERROR;
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}
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if (ret != (int)meta->o_size) {
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errno = EIO;
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return ERROR;
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}
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if (ret != (int)meta->o_size) {
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errno = EIO;
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return ERROR;
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}
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return PX4_OK;
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return PX4_OK;
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}
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int uORB::Manager::orb_check(int handle, bool *updated)
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{
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return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
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return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
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}
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int uORB::Manager::orb_stat(int handle, uint64_t *time)
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{
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return px4_ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
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return px4_ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
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}
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int uORB::Manager::orb_priority(int handle, int *priority)
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{
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return px4_ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
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return px4_ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
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}
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int uORB::Manager::orb_set_interval(int handle, unsigned interval)
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{
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return px4_ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
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return px4_ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
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}
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int uORB::Manager::node_advertise
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(
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const struct orb_metadata *meta,
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int *instance,
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int priority
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const struct orb_metadata *meta,
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int *instance,
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int priority
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)
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{
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int fd = -1;
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int ret = ERROR;
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int fd = -1;
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int ret = ERROR;
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/* fill advertiser data */
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const struct orb_advertdata adv = { meta, instance, priority };
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/* fill advertiser data */
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const struct orb_advertdata adv = { meta, instance, priority };
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/* open the control device */
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fd = px4_open(TOPIC_MASTER_DEVICE_PATH, 0);
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/* open the control device */
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fd = px4_open(TOPIC_MASTER_DEVICE_PATH, 0);
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if (fd < 0)
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goto out;
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if (fd < 0) {
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goto out;
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}
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/* advertise the object */
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ret = px4_ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)&adv);
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/* advertise the object */
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ret = px4_ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)&adv);
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/* it's PX4_OK if it already exists */
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if ((PX4_OK != ret) && (EEXIST == errno)) {
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ret = PX4_OK;
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}
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/* it's PX4_OK if it already exists */
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if ((PX4_OK != ret) && (EEXIST == errno)) {
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ret = PX4_OK;
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}
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out:
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if (fd >= 0)
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px4_close(fd);
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if (fd >= 0) {
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px4_close(fd);
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}
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return ret;
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return ret;
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}
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int uORB::Manager::node_open
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(
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Flavor f,
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const struct orb_metadata *meta,
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const void *data,
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bool advertiser,
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int *instance,
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int priority
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Flavor f,
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const struct orb_metadata *meta,
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const void *data,
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bool advertiser,
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int *instance,
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int priority
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)
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{
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char path[orb_maxpath];
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int fd, ret;
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char path[orb_maxpath];
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int fd, ret;
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/*
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* If meta is null, the object was not defined, i.e. it is not
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* known to the system. We can't advertise/subscribe such a thing.
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*/
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if (nullptr == meta) {
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errno = ENOENT;
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return ERROR;
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}
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/*
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* If meta is null, the object was not defined, i.e. it is not
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* known to the system. We can't advertise/subscribe such a thing.
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*/
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if (nullptr == meta) {
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errno = ENOENT;
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return ERROR;
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}
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/*
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* Advertiser must publish an initial value.
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*/
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if (advertiser && (data == nullptr)) {
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errno = EINVAL;
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return ERROR;
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}
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/*
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* Advertiser must publish an initial value.
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*/
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if (advertiser && (data == nullptr)) {
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errno = EINVAL;
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return ERROR;
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}
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/*
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* Generate the path to the node and try to open it.
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*/
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/*
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* Generate the path to the node and try to open it.
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*/
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// FIXME - if *instance is uninitialized, why is this being called? Seems risky and
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// its definiately a waste. This is the case in muli-topic test.
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ret = uORB::Utils::node_mkpath(path, f, meta, instance);
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// FIXME - if *instance is uninitialized, why is this being called? Seems risky and
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// its definiately a waste. This is the case in muli-topic test.
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ret = uORB::Utils::node_mkpath(path, f, meta, instance);
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if (ret != PX4_OK) {
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errno = -ret;
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return ERROR;
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}
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if (ret != PX4_OK) {
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errno = -ret;
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return ERROR;
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}
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/* open the path as either the advertiser or the subscriber */
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fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
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/* open the path as either the advertiser or the subscriber */
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fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
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/* if we want to advertise and the node existed, we have to re-try again */
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if ((fd >= 0) && (instance != nullptr) && (advertiser)) {
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/* close the fd, we want a new one */
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px4_close(fd);
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/* if we want to advertise and the node existed, we have to re-try again */
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if ((fd >= 0) && (instance != nullptr) && (advertiser)) {
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/* close the fd, we want a new one */
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px4_close(fd);
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/* the node_advertise call will automatically go for the next free entry */
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fd = -1;
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}
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/* the node_advertise call will automatically go for the next free entry */
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fd = -1;
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}
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/* we may need to advertise the node... */
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if (fd < 0) {
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/* we may need to advertise the node... */
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if (fd < 0) {
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/* try to create the node */
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ret = node_advertise(meta, instance, priority);
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/* try to create the node */
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ret = node_advertise(meta, instance, priority);
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if (ret == PX4_OK) {
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/* update the path, as it might have been updated during the node_advertise call */
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ret = uORB::Utils::node_mkpath(path, f, meta, instance);
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if (ret == PX4_OK) {
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/* update the path, as it might have been updated during the node_advertise call */
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ret = uORB::Utils::node_mkpath(path, f, meta, instance);
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if (ret != PX4_OK) {
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errno = -ret;
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return ERROR;
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}
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}
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if (ret != PX4_OK) {
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errno = -ret;
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return ERROR;
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}
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}
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/* on success, try the open again */
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if (ret == PX4_OK) {
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fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
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}
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}
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/* on success, try the open again */
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if (ret == PX4_OK) {
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fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
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}
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}
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if (fd < 0) {
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errno = EIO;
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return ERROR;
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}
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if (fd < 0) {
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errno = EIO;
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return ERROR;
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}
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/* everything has been OK, we can return the handle now */
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return fd;
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/* everything has been OK, we can return the handle now */
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return fd;
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}
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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void uORB::Manager::set_uorb_communicator( uORBCommunicator::IChannel* channel)
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void uORB::Manager::set_uorb_communicator(uORBCommunicator::IChannel *channel)
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{
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_comm_channel = channel;
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if (_comm_channel != nullptr) {
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_comm_channel->register_handler(this);
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}
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_comm_channel = channel;
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if (_comm_channel != nullptr) {
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_comm_channel->register_handler(this);
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}
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}
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uORBCommunicator::IChannel* uORB::Manager::get_uorb_communicator( void )
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uORBCommunicator::IChannel *uORB::Manager::get_uorb_communicator(void)
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{
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return _comm_channel;
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return _comm_channel;
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}
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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int16_t uORB::Manager::process_add_subscription(const char *messageName,
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int32_t msgRateInHz)
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int32_t msgRateInHz)
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{
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warnx("[posix-uORB::Manager::process_add_subscription(%d)] entering Manager_process_add_subscription: name: %s",
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__LINE__, messageName );
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int16_t rc = 0;
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_remote_subscriber_topics.insert( messageName );
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char nodepath[orb_maxpath];
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int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName );
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if (ret == OK) {
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// get the node name.
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uORB::DeviceNode* node = uORB::DeviceMaster::GetDeviceNode( nodepath );
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if ( node == nullptr) {
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warnx( "[posix-uORB::Manager::process_add_subscription(%d)]DeviceNode(%s) not created yet",
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__LINE__, messageName );
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}
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else{
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// node is present.
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node->process_add_subscription(msgRateInHz);
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}
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} else {
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rc = -1;
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}
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return rc;
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warnx("[posix-uORB::Manager::process_add_subscription(%d)] entering Manager_process_add_subscription: name: %s",
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__LINE__, messageName);
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int16_t rc = 0;
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_remote_subscriber_topics.insert(messageName);
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char nodepath[orb_maxpath];
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int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName);
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if (ret == OK) {
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// get the node name.
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uORB::DeviceNode *node = uORB::DeviceMaster::GetDeviceNode(nodepath);
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if (node == nullptr) {
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warnx("[posix-uORB::Manager::process_add_subscription(%d)]DeviceNode(%s) not created yet",
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__LINE__, messageName);
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} else {
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// node is present.
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node->process_add_subscription(msgRateInHz);
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}
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} else {
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rc = -1;
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}
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return rc;
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}
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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int16_t uORB::Manager::process_remove_subscription(
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const char * messageName)
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const char *messageName)
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||||
{
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||||
warnx("[posix-uORB::Manager::process_remove_subscription(%d)] Enter: name: %s",
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__LINE__, messageName );
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int16_t rc = -1;
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_remote_subscriber_topics.erase( messageName );
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char nodepath[orb_maxpath];
|
||||
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName );
|
||||
if (ret == OK) {
|
||||
uORB::DeviceNode* node = uORB::DeviceMaster::GetDeviceNode( nodepath );
|
||||
// get the node name.
|
||||
if ( node == nullptr) {
|
||||
warnx("[posix-uORB::Manager::process_remove_subscription(%d)]Error No existing subscriber found for message: [%s]",
|
||||
__LINE__, messageName);
|
||||
} else {
|
||||
// node is present.
|
||||
node->process_remove_subscription();
|
||||
rc = 0;
|
||||
}
|
||||
}
|
||||
return rc;
|
||||
warnx("[posix-uORB::Manager::process_remove_subscription(%d)] Enter: name: %s",
|
||||
__LINE__, messageName);
|
||||
int16_t rc = -1;
|
||||
_remote_subscriber_topics.erase(messageName);
|
||||
char nodepath[orb_maxpath];
|
||||
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName);
|
||||
|
||||
if (ret == OK) {
|
||||
uORB::DeviceNode *node = uORB::DeviceMaster::GetDeviceNode(nodepath);
|
||||
|
||||
// get the node name.
|
||||
if (node == nullptr) {
|
||||
warnx("[posix-uORB::Manager::process_remove_subscription(%d)]Error No existing subscriber found for message: [%s]",
|
||||
__LINE__, messageName);
|
||||
|
||||
} else {
|
||||
// node is present.
|
||||
node->process_remove_subscription();
|
||||
rc = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return rc;
|
||||
}
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
//-----------------------------------------------------------------------------
|
||||
int16_t uORB::Manager::process_received_message(const char * messageName,
|
||||
int32_t length, uint8_t* data)
|
||||
int16_t uORB::Manager::process_received_message(const char *messageName,
|
||||
int32_t length, uint8_t *data)
|
||||
{
|
||||
//warnx("[uORB::Manager::process_received_message(%d)] Enter name: %s", __LINE__, messageName );
|
||||
//warnx("[uORB::Manager::process_received_message(%d)] Enter name: %s", __LINE__, messageName );
|
||||
|
||||
int16_t rc = -1;
|
||||
char nodepath[orb_maxpath];
|
||||
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName );
|
||||
if (ret == OK) {
|
||||
uORB::DeviceNode* node = uORB::DeviceMaster::GetDeviceNode( nodepath );
|
||||
// get the node name.
|
||||
if ( node == nullptr) {
|
||||
warnx("[uORB::Manager::process_received_message(%d)]Error No existing subscriber found for message: [%s] nodepath:[%s]",
|
||||
__LINE__, messageName, nodepath );
|
||||
int16_t rc = -1;
|
||||
char nodepath[orb_maxpath];
|
||||
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName);
|
||||
|
||||
} else {
|
||||
// node is present.
|
||||
node->process_received_message( length, data );
|
||||
rc = 0;
|
||||
}
|
||||
}
|
||||
return rc;
|
||||
if (ret == OK) {
|
||||
uORB::DeviceNode *node = uORB::DeviceMaster::GetDeviceNode(nodepath);
|
||||
|
||||
// get the node name.
|
||||
if (node == nullptr) {
|
||||
warnx("[uORB::Manager::process_received_message(%d)]Error No existing subscriber found for message: [%s] nodepath:[%s]",
|
||||
__LINE__, messageName, nodepath);
|
||||
|
||||
} else {
|
||||
// node is present.
|
||||
node->process_received_message(length, data);
|
||||
rc = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return rc;
|
||||
}
|
||||
|
||||
bool uORB::Manager::is_remote_subscriber_present( const char * messageName )
|
||||
bool uORB::Manager::is_remote_subscriber_present(const char *messageName)
|
||||
{
|
||||
return ( _remote_subscriber_topics.find( messageName ) != _remote_subscriber_topics.end() );
|
||||
return (_remote_subscriber_topics.find(messageName) != _remote_subscriber_topics.end());
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user