PX4-Autopilot/platforms/common/uORB/uORBManager.cpp

/****************************************************************************
 *
 *   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
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 *    used to endorse or promote products derived from this software
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#include <sys/types.h>
#include <sys/stat.h>
#include <stdarg.h>
#include <fcntl.h>

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>

#include "uORBDeviceNode.hpp"
#include "uORBUtils.hpp"
#include "uORBManager.hpp"

uORB::Manager *uORB::Manager::_Instance = nullptr;

bool uORB::Manager::initialize()
{
	if (_Instance == nullptr) {
		_Instance = new uORB::Manager();
	}

	return _Instance != nullptr;
}

bool uORB::Manager::terminate()
{
	if (_Instance != nullptr) {
		delete _Instance;
		_Instance = nullptr;
		return true;
	}

	return false;
}

uORB::DeviceMaster *uORB::Manager::get_device_master()
{
	if (!_device_master) {
		_device_master = new DeviceMaster();

		if (_device_master == nullptr) {
			PX4_ERR("Failed to allocate DeviceMaster");
			errno = ENOMEM;
		}
	}

	return _device_master;
}

int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
{
	int ret = PX4_ERROR;

	// instance valid range: [0, ORB_MULTI_MAX_INSTANCES)
	if ((instance < 0) || (instance > (ORB_MULTI_MAX_INSTANCES - 1))) {
		return ret;
	}

	if (get_device_master()) {
		uORB::DeviceNode *node = _device_master->getDeviceNode(meta, instance);

		if (node != nullptr) {
			if (node->is_advertised()) {
				return PX4_OK;
			}
		}
	}

#ifdef ORB_COMMUNICATOR

	/*
	 * Generate the path to the node and try to open it.
	 */
	char path[orb_maxpath];
	int inst = instance;

	ret = uORB::Utils::node_mkpath(path, meta, &inst);

	if (ret != OK) {
		errno = -ret;
		return PX4_ERROR;
	}

	ret = px4_access(path, F_OK);

	if (ret == -1 && meta != nullptr && !_remote_topics.empty()) {
		ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : PX4_ERROR;
	}

	if (ret == 0) {
		// we know the topic exists, but it's not necessarily advertised/published yet (for example
		// if there is only a subscriber)
		// The open() will not lead to memory allocations.
		int fd = px4_open(path, 0);

		if (fd >= 0) {
			unsigned long is_advertised;

			if (px4_ioctl(fd, ORBIOCISADVERTISED, (unsigned long)&is_advertised) == 0) {
				if (!is_advertised) {
					ret = PX4_ERROR;
				}
			}

			px4_close(fd);
		}
	}

#endif /* ORB_COMMUNICATOR */

	return ret;
}

orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
		unsigned int queue_size)
{
	/* open the node as an advertiser */
	int fd = node_open(meta, true, instance);

	if (fd == PX4_ERROR) {
		PX4_ERR("%s advertise failed (%i)", meta->o_name, errno);
		return nullptr;
	}

	/* Set the queue size. This must be done before the first publication; thus it fails if
	 * this is not the first advertiser.
	 */
	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);

	if (result < 0 && queue_size > 1) {
		PX4_WARN("orb_advertise_multi: failed to set queue size");
	}

	/* get the advertiser handle and close the node */
	orb_advert_t advertiser;

	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
	px4_close(fd);

	if (result == PX4_ERROR) {
		PX4_WARN("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
		return nullptr;
	}

#ifdef ORB_COMMUNICATOR
	// For remote systems call over and inform them
	uORB::DeviceNode::topic_advertised(meta);
#endif /* ORB_COMMUNICATOR */

	/* the advertiser may perform an initial publish to initialise the object */
	if (data != nullptr) {
		result = orb_publish(meta, advertiser, data);

		if (result == PX4_ERROR) {
			PX4_ERR("orb_publish failed %s", meta->o_name);
			return nullptr;
		}
	}

	return advertiser;
}

int uORB::Manager::orb_unadvertise(orb_advert_t handle)
{
	return uORB::DeviceNode::unadvertise(handle);
}

int uORB::Manager::orb_subscribe(const struct orb_metadata *meta)
{
	return node_open(meta, false);
}

int uORB::Manager::orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
{
	int inst = instance;
	return node_open(meta, false, &inst);
}

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_get_interval(int handle, unsigned *interval)
{
	int ret = px4_ioctl(handle, ORBIOCGETINTERVAL, (unsigned long)interval);
	*interval /= 1000;
	return ret;
}

int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, int *instance)
{
	char path[orb_maxpath];
	int fd = -1;
	int ret = PX4_ERROR;

	/*
	 * 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 PX4_ERROR;
	}

	/* if we have an instance and are an advertiser, we will generate a new node and set the instance,
	 * so we do not need to open here */
	if (!instance || !advertiser) {
		/*
		 * Generate the path to the node and try to open it.
		 */
		ret = uORB::Utils::node_mkpath(path, meta, instance);

		if (ret != OK) {
			errno = -ret;
			return PX4_ERROR;
		}

		/* open the path as either the advertiser or the subscriber */
		fd = px4_open(path, advertiser ? PX4_F_WRONLY : PX4_F_RDONLY);

	} else {
		*instance = 0;
	}

	/* we may need to advertise the node... */
	if (fd < 0) {

		ret = PX4_ERROR;

		if (get_device_master()) {
			ret = _device_master->advertise(meta, advertiser, instance);
		}

		/* it's OK if it already exists */
		if ((ret != PX4_OK) && (EEXIST == errno)) {
			ret = PX4_OK;
		}

		if (ret == PX4_OK) {
			/* update the path, as it might have been updated during the node advertise call */
			ret = uORB::Utils::node_mkpath(path, meta, instance);

			/* on success, try to open again */
			if (ret == PX4_OK) {
				fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);

			} else {
				errno = -ret;
				return PX4_ERROR;
			}
		}
	}

	if (fd < 0) {
		errno = EIO;
		return PX4_ERROR;
	}

	/* everything has been OK, we can return the handle now */
	return fd;
}

#ifdef ORB_COMMUNICATOR
void uORB::Manager::set_uorb_communicator(uORBCommunicator::IChannel *channel)
{
	_comm_channel = channel;

	if (_comm_channel != nullptr) {
		_comm_channel->register_handler(this);
	}
}

uORBCommunicator::IChannel *uORB::Manager::get_uorb_communicator()
{
	return _comm_channel;
}

int16_t uORB::Manager::process_remote_topic(const char *topic_name, bool isAdvertisement)
{
	int16_t rc = 0;

	if (isAdvertisement) {
		_remote_topics.insert(topic_name);

	} else {
		_remote_topics.erase(topic_name);
	}

	return rc;
}

int16_t uORB::Manager::process_add_subscription(const char *messageName, int32_t msgRateInHz)
{
	PX4_DEBUG("entering Manager_process_add_subscription: name: %s", messageName);

	int16_t rc = 0;
	_remote_subscriber_topics.insert(messageName);
	char nodepath[orb_maxpath];
	int ret = uORB::Utils::node_mkpath(nodepath, messageName);
	DeviceMaster *device_master = get_device_master();

	if (ret == OK && device_master) {
		uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);

		if (node == nullptr) {
			PX4_DEBUG("DeviceNode(%s) not created yet", messageName);

		} else {
			// node is present.
			node->process_add_subscription(msgRateInHz);
		}

	} else {
		rc = -1;
	}

	return rc;
}

int16_t uORB::Manager::process_remove_subscription(const char *messageName)
{
	int16_t rc = -1;
	_remote_subscriber_topics.erase(messageName);
	char nodepath[orb_maxpath];
	int ret = uORB::Utils::node_mkpath(nodepath, messageName);
	DeviceMaster *device_master = get_device_master();

	if (ret == OK && device_master) {
		uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);

		// get the node name.
		if (node == nullptr) {
			PX4_DEBUG("[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 rc = -1;
	char nodepath[orb_maxpath];
	int ret = uORB::Utils::node_mkpath(nodepath, messageName);
	DeviceMaster *device_master = get_device_master();

	if (ret == OK && device_master) {
		uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);

		// get the node name.
		if (node == nullptr) {
			PX4_DEBUG("No existing subscriber found for message: [%s] nodepath:[%s]", 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)
{
#ifdef __PX4_NUTTX
	return _remote_subscriber_topics.find(messageName);
#else
	return (_remote_subscriber_topics.find(messageName) != _remote_subscriber_topics.end());
#endif
}
#endif /* ORB_COMMUNICATOR */