Removed dspal submodule, added px4muorb.idl

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Tools/check_submodules.sh

@@ -78,4 +78,4 @@ check_git_submodule src/lib/matrix
 check_git_submodule src/modules/uavcan/libuavcan
 check_git_submodule unittests/googletest
 
-exit 0
+exit 0

src/firmware/qurt/px4muorb.idl

@@ -0,0 +1,135 @@
+//=======================================================================
+// Copyright (c) 2016, Mark Charlebois. All rights reserved.
+// 
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * 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.
+//     * Neither the name of The Linux Foundation 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 "AS IS" AND ANY EXPRESS OR IMPLIED
+// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
+// 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 "AEEStdDef.idl"
+
+interface px4muorb{
+  
+   /**
+    * interface method to start the uorb service and initialize the muorb
+    */
+   AEEResult orb_initialize();
+
+   /**
+    * Interface to add a subscriber to the identified topic
+    * @param topic_name
+    * @return status
+    *   0 == success
+    *   all others is a failure.
+    */
+   AEEResult  add_subscriber( in string topic_name );
+
+   /**
+    * Interface to remove a subscriber for the identified topic.
+    * @param topic_name
+    * @return status
+    *   0 == success
+    *   all others is a failure.
+    */
+   AEEResult  remove_subscriber( in string topic_name );
+
+   /**
+    * Interface called from krait for topic data.
+    * @param topic_name
+    * @param data
+    *   a sequence of bytes for the passed data stream.
+    *   as per the HExagon Documention, the max size of this stream is 255 bytes.
+    * @return status
+    *   0 == success
+    *   all others is a failure.
+    */
+   AEEResult  send_topic_data( in string topic_name, in sequence<octet> data );
+
+   /**
+    * Inteface to check if there are subscribers on the remote adsp client
+    * This inteface is required as the krait app can be restarted without adsp
+    * being re-started.  In this scenario the krait app does not know if there
+    * is subscriber on the remote end(ie adsp).
+    * @param topic_name
+    *   The name of the topic for which the subscription needs to be checked.
+    * @param rout int status
+    *   The status of the subscription, 0=no-subscribers, 1 = more than one subscriber.
+    * @return status
+    *   0 == success
+    *   all others is a failure.
+    */
+   AEEResult is_subscriber_present( in string topic_name, rout long status );
+
+   /**
+    * Interface to receive data from adsp.  Since there is only one interface, the different message
+    * types are identified by the msg_type field.
+    * @param msg_type
+    *   The possible values are:
+    *   1 ==> add_subscriber
+    *   2 ==> remove_subscriber
+    *   3 ==> recieve_topic_data
+    * @note: for message types, 1 & 2, the data pointer returned is null with length of 0.
+    * @param topic_name
+    *   The topic being returned.
+    * @param data
+    *   the data stream
+    * @param bytes_returned
+    *   The number of bytes returned in the byte buffer.
+    * @return status
+    *   0 == success
+    *   all others is a failure.
+    */
+   AEEResult  receive_msg( rout long msg_type, rout string topic_name, rout sequence<octet> data, rout long bytes_returned );
+
+   /**
+    * Since the receive_msg is a blocking call, the client will not be able to peform a clean shutdown.  Calling this
+    * function will unblock the receive msg an return an error code.
+    * Ideally this should be implemented as a time for the receive msg call.
+    * @param none
+    * @return status
+    *    0 = success
+    *    all others is a failure.
+    **/
+    AEEResult unblock_recieve_msg();
+
+    /**
+     * This interface will perform a bulk read from the adsp and return the data buffer.
+     * The structure of the messages is as follows
+     * +----------------+-----------+---------------+----------+----------------+
+     * | Topic Name Len | datal_len |TopicName(nullterminated) |   data bytes   |
+     * +----------------+-----------+---------------+----------+----------------+
+     * |<-- 2 bytes  -->|<-2bytes-> |<-- topicnamelen bytes -->|<-datalenbytes->|
+     * +----------------+---------------------------+----------+----------------+
+     * @param data
+     *    The output buffer where the data needs to be copied
+     * @param bytes_returned
+     *    The number of bytes the buffer is filled up by.
+     * @param topic_count
+     *    The numbe of topics filled in the buffer.
+     * @return status
+     *    0 = success
+     *    all others is a failure.
+     **/ 
+    AEEResult receive_bulk_data( rout sequence<octet> data, rout long bytes_returned, rout long topic_count );
+};

src/lib/dspal

@@ -1 +0,0 @@
-Subproject commit 135d402c428ade4045cb3d0c404fbabcbad432fd