diff --git a/Tools/check_submodules.sh b/Tools/check_submodules.sh index dff89cb276..7a8519958c 100755 --- a/Tools/check_submodules.sh +++ b/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 \ No newline at end of file +exit 0 diff --git a/src/firmware/qurt/px4muorb.idl b/src/firmware/qurt/px4muorb.idl new file mode 100644 index 0000000000..0777588c8c --- /dev/null +++ b/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 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 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 data, rout long bytes_returned, rout long topic_count ); +}; diff --git a/src/lib/dspal b/src/lib/dspal deleted file mode 160000 index 135d402c42..0000000000 --- a/src/lib/dspal +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 135d402c428ade4045cb3d0c404fbabcbad432fd