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1dbee4100a
call into a new UORB COMMUNICATOR ICHANNEL shutdown interface if it has been configured, otherwise it does nothing. This allows ICHANNEL implementations to pass on a shutdown indication to a remote processor. Implemented the shutdown interface in the muorb module for VOXL flight controllers.
218 lines
7.1 KiB
C++
218 lines
7.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef _uORBCommunicator_hpp_
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#define _uORBCommunicator_hpp_
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#include <stdint.h>
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namespace uORBCommunicator
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{
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class IChannel;
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class IChannelRxHandler;
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}
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/**
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* Interface to enable remote subscriptions. The implementor of this interface
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* shall manage the communication channel. It can be fastRPC or tcp or ip.
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*/
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class uORBCommunicator::IChannel
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{
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public:
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//=========================================================================
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// INTERFACES FOR Control messages over a channel.
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//=========================================================================
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/**
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* @brief Interface to notify the remote entity of a topic being advertised.
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*
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* @param messageName
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* This represents the uORB message name(aka topic); This message name should be
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* globally unique.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t topic_advertised(const char *messageName) = 0;
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/**
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* @brief Interface to notify the remote entity of interest of a
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* subscription for a message.
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*
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* @param messageName
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* This represents the uORB message name; This message name should be
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* globally unique.
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* @param msgRate
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* The max rate at which the subscriber can accept the messages.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t add_subscription(const char *messageName, int32_t msgRateInHz) = 0;
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/**
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* @brief Interface to notify the remote entity of removal of a subscription
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*
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* @param messageName
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* This represents the uORB message name; This message name should be
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* globally unique.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not necessarily mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t remove_subscription(const char *messageName) = 0;
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/**
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* Register Message Handler. This is internal for the IChannel implementer*
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*/
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virtual int16_t register_handler(uORBCommunicator::IChannelRxHandler *handler) = 0;
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//=========================================================================
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// INTERFACES FOR Data messages
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//=========================================================================
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/**
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* @brief Sends the data message over the communication link.
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* @param messageName
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* This represents the uORB message name; This message name should be
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* globally unique.
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* @param length
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* The length of the data buffer to be sent.
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* @param data
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* The actual data to be sent.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t send_message(const char *messageName, int32_t length, uint8_t *data) = 0;
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//=========================================================================
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// INTERFACES FOR Lifecycle messages
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//=========================================================================
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/**
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* @brief Interface to notify the remote entity of a shutdown.
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*
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* @return
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* 0 = success; This means the shutdown is successfully sent to the receiver
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* Note: This does not mean that the receiver has received it.
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* otherwise = failure.
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*/
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virtual int16_t shutdown() { return 0; }
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};
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/**
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* Class passed to the communication link implement to provide callback for received
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* messages over a channel.
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*/
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class uORBCommunicator::IChannelRxHandler
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{
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public:
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/**
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* Interface to process a received topic advertisement from remote.
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* @param topic_name
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* This represents the uORB message Name (topic); This message Name should be
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* globally unique.
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* @return
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* 0 = success; This means the messages is successfully handled in the
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* handler.
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* otherwise = failure.
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*/
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virtual int16_t process_remote_topic(const char *topic_name) = 0;
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/**
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* Interface to process a received AddSubscription from remote.
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* @param messageName
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* This represents the uORB message Name; This message Name should be
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* globally unique.
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* @return
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* 0 = success; This means the messages is successfully handled in the
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* handler.
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* otherwise = failure.
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*/
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virtual int16_t process_add_subscription(const char *messageName) = 0;
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/**
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* Interface to process a received control msg to remove subscription
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* @param messageName
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* This represents the uORB message Name; This message Name should be
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* globally unique.
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* @return
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* 0 = success; This means the messages is successfully handled in the
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* handler.
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* otherwise = failure.
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*/
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virtual int16_t process_remove_subscription(const char *messageName) = 0;
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/**
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* Interface to process the received data message.
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* @param messageName
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* This represents the uORB message Name; This message Name should be
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* globally unique.
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* @param length
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* The length of the data buffer to be sent.
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* @param data
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* The actual data to be sent.
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* @return
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* 0 = success; This means the messages is successfully handled in the
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* handler.
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* otherwise = failure.
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*/
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virtual int16_t process_received_message(const char *messageName, int32_t length, uint8_t *data) = 0;
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};
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#endif /* _uORBCommunicator_hpp_ */
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