mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-17 11:50:37 +08:00
Daniel Agar
132 lines
4.0 KiB
C++
132 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2016 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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#pragma once
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#include <stdint.h>
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#include "uORBCommon.hpp"
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#include <px4_posix.h>
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namespace uORB
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{
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class DeviceNode;
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class DeviceMaster;
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class Manager;
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}
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#ifdef __PX4_NUTTX
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#include <string.h>
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#include <stdlib.h>
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#include "ORBMap.hpp"
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#else
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#include <string>
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#include <map>
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#endif /* __PX4_NUTTX */
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/**
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* Master control device for ObjDev.
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*
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* Used primarily to create new objects via the ORBIOCCREATE
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* ioctl.
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*/
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class uORB::DeviceMaster
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{
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public:
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int advertise(const struct orb_metadata *meta, int *instance, int priority);
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/**
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* Public interface for getDeviceNodeLocked(). Takes care of synchronization.
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* @return node if exists, nullptr otherwise
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*/
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uORB::DeviceNode *getDeviceNode(const char *node_name);
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/**
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* Print statistics for each existing topic.
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* @param reset if true, reset statistics afterwards
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*/
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void printStatistics(bool reset);
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/**
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* Continuously print statistics, like the unix top command for processes.
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* Exited when the user presses the enter key.
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* @param topic_filter list of topic filters: if set, each string can be a substring for topics to match.
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* Or it can be '-a', which means to print all topics instead of only currently publishing ones.
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* @param num_filters
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*/
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void showTop(char **topic_filter, int num_filters);
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private:
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// Private constructor, uORB::Manager takes care of its creation
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DeviceMaster();
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~DeviceMaster();
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struct DeviceNodeStatisticsData {
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DeviceNode *node;
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uint8_t instance;
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uint32_t last_lost_msg_count;
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unsigned int last_pub_msg_count;
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uint32_t lost_msg_delta;
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unsigned int pub_msg_delta;
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DeviceNodeStatisticsData *next = nullptr;
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};
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void addNewDeviceNodes(DeviceNodeStatisticsData **first_node, int &num_topics, size_t &max_topic_name_length,
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char **topic_filter, int num_filters);
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friend class uORB::Manager;
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/**
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* Find a node give its name.
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* _lock must already be held when calling this.
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* @return node if exists, nullptr otherwise
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*/
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uORB::DeviceNode *getDeviceNodeLocked(const char *node_name);
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#ifdef __PX4_NUTTX
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ORBMap _node_map;
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#else
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std::map<std::string, uORB::DeviceNode *> _node_map;
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#endif
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hrt_abstime _last_statistics_output;
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px4_sem_t _lock; /**< lock to protect access to all class members (also for derived classes) */
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void lock() { do {} while (px4_sem_wait(&_lock) != 0); }
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void unlock() { px4_sem_post(&_lock); }
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};
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