px4-firmware/platforms/common/uORB/uORB.cpp

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 *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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/**
 * @file uORB.cpp
 * A lightweight object broker.
 */

#include "uORB.h"

#include "uORBManager.hpp"
#include "uORBCommon.hpp"

static uORB::DeviceMaster *g_dev = nullptr;

int uorb_start(void)
{
	if (g_dev != nullptr) {
		PX4_WARN("already loaded");
		/* user wanted to start uorb, its already running, no error */
		return 0;
	}

	if (!uORB::Manager::initialize()) {
		PX4_ERR("uorb manager alloc failed");
		return -ENOMEM;
	}

	/* create the driver */
	g_dev = uORB::Manager::get_instance()->get_device_master();

	if (g_dev == nullptr) {
		return -errno;
	}

	return OK;
}

int uorb_status(void)
{
	if (g_dev != nullptr) {
		g_dev->printStatistics();

	} else {
		PX4_INFO("uorb is not running");
	}

	return OK;
}

int uorb_top(char **topic_filter, int num_filters)
{
	if (g_dev != nullptr) {
		g_dev->showTop(topic_filter, num_filters);

	} else {
		PX4_INFO("uorb is not running");
	}

	return OK;
}


orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
{
	return uORB::Manager::get_instance()->orb_advertise(meta, data);
}

orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size)
{
	return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size);
}

orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
{
	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance);
}

orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
				       unsigned int queue_size)
{
	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size);
}

int orb_unadvertise(orb_advert_t handle)
{
	return uORB::Manager::get_instance()->orb_unadvertise(handle);
}

int  orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
{
	return uORB::Manager::get_instance()->orb_publish(meta, handle, data);
}

int  orb_subscribe(const struct orb_metadata *meta)
{
	return uORB::Manager::get_instance()->orb_subscribe(meta);
}

int  orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
{
	return uORB::Manager::get_instance()->orb_subscribe_multi(meta, instance);
}

int  orb_unsubscribe(int handle)
{
	return uORB::Manager::get_instance()->orb_unsubscribe(handle);
}

int  orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
{
	return uORB::Manager::get_instance()->orb_copy(meta, handle, buffer);
}

int  orb_check(int handle, bool *updated)
{
	return uORB::Manager::get_instance()->orb_check(handle, updated);
}

int  orb_exists(const struct orb_metadata *meta, int instance)
{
	return uORB::Manager::get_instance()->orb_exists(meta, instance);
}

int  orb_group_count(const struct orb_metadata *meta)
{
	unsigned instance = 0;

	while (uORB::Manager::get_instance()->orb_exists(meta, instance) == OK) {
		++instance;
	};

	return instance;
}

int orb_set_interval(int handle, unsigned interval)
{
	return uORB::Manager::get_instance()->orb_set_interval(handle, interval);
}

int orb_get_interval(int handle, unsigned *interval)
{
	return uORB::Manager::get_instance()->orb_get_interval(handle, interval);
}

const char *orb_get_c_type(unsigned char short_type)
{
	// this matches with the uorb o_fields generator
	switch (short_type) {
	case 0x82: return "int8_t";

	case 0x83: return "int16_t";

	case 0x84: return "int32_t";

	case 0x85: return "int64_t";

	case 0x86: return "uint8_t";

	case 0x87: return "uint16_t";

	case 0x88: return "uint32_t";

	case 0x89: return "uint64_t";

	case 0x8a: return "float";

	case 0x8b: return "double";

	case 0x8c: return "bool";

	case 0x8d: return "char";
	}

	return nullptr;
}