mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-30 12:24:06 +08:00
96 lines
3.6 KiB
C++
96 lines
3.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2020 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include <string.h>
|
|
|
|
#include <uORB/uORB.h>
|
|
|
|
#include <px4_platform_common/log.h>
|
|
#include <px4_platform_common/module.h>
|
|
|
|
extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
|
|
|
|
static void usage();
|
|
|
|
int uorb_main(int argc, char *argv[])
|
|
{
|
|
if (argc < 2) {
|
|
usage();
|
|
return -1;
|
|
}
|
|
|
|
if (!strcmp(argv[1], "start")) {
|
|
return uorb_start();
|
|
|
|
} else if (!strcmp(argv[1], "status")) {
|
|
return uorb_status();
|
|
|
|
} else if (!strcmp(argv[1], "top")) {
|
|
return uorb_top(argv + 2, argc - 2);
|
|
}
|
|
|
|
usage();
|
|
return 0;
|
|
}
|
|
|
|
void usage()
|
|
{
|
|
PRINT_MODULE_DESCRIPTION(
|
|
R"DESCR_STR(
|
|
### Description
|
|
uORB is the internal pub-sub messaging system, used for communication between modules.
|
|
|
|
### Implementation
|
|
The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa.
|
|
This is achieved by having a separate buffer between a publisher and a subscriber.
|
|
|
|
The code is optimized to minimize the memory footprint and the latency to exchange messages.
|
|
|
|
Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time.
|
|
|
|
If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which
|
|
modules are allowed to publish which topics. This is used for system-wide replay.
|
|
|
|
### Examples
|
|
Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:
|
|
$ uorb top
|
|
)DESCR_STR");
|
|
|
|
PRINT_MODULE_USAGE_NAME("uorb", "communication");
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print topic statistics");
|
|
PRINT_MODULE_USAGE_COMMAND_DESCR("top", "Monitor topic publication rates");
|
|
PRINT_MODULE_USAGE_PARAM_FLAG('a', "print all instead of only currently publishing topics with subscribers", true);
|
|
PRINT_MODULE_USAGE_PARAM_FLAG('1', "run only once, then exit", true);
|
|
PRINT_MODULE_USAGE_ARG("<filter1> [<filter2>]", "topic(s) to match (implies -a)", true);
|
|
}
|