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88f0080a0f
ORB topic advertisements are now global handles that can be used in any context. It is still possible to open a topic node as a publisher, but it's not the default. As a consequence, the type of the handle returned from orb_advertise has changed; all other API remains the same.
88 lines
3.0 KiB
C
88 lines
3.0 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 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 _DRV_UORB_H
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#define _DRV_UORB_H
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/**
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* @file uORB published object driver.
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*/
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#include <sys/types.h>
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#include <sys/ioctl.h>
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#include <stdint.h>
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/* XXX for ORB_DECLARE used in many drivers */
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#include "../uORB/uORB.h"
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/*
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* ioctl() definitions
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*/
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/** path to the uORB control device for pub/sub topics */
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#define TOPIC_MASTER_DEVICE_PATH "/obj/_obj_"
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/** path to the uORB control device for parameter topics */
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#define PARAM_MASTER_DEVICE_PATH "/param/_param_"
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/** maximum ogbject name length */
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#define ORB_MAXNAME 32
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#define _ORBIOCBASE (0x2500)
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#define _ORBIOC(_n) (_IOC(_ORBIOCBASE, _n))
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/*
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* IOCTLs for the uORB control device
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*/
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/** Advertise a new topic described by *(uorb_metadata *)arg */
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#define ORBIOCADVERTISE _ORBIOC(0)
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/*
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* IOCTLs for individual topics.
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*/
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/** Fetch the time at which the topic was last updated into *(uint64_t *)arg */
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#define ORBIOCLASTUPDATE _ORBIOC(10)
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/** Check whether the topic has been updated since it was last read, sets *(bool *)arg */
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#define ORBIOCUPDATED _ORBIOC(11)
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/** Set the minimum interval at which the topic can be seen to be updated for this subscription */
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#define ORBIOCSETINTERVAL _ORBIOC(12)
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/** Get the global advertiser handle for the topic */
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#define ORBIOCGADVERTISER _ORBIOC(13)
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#endif /* _DRV_UORB_H */
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