forked from Archive/PX4-Autopilot
muorb: clean up of forgotton merge conflict
This commit is contained in:
Julian Oes
parent
d3fc3b6c23
commit
3a8feaf617
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@ -69,115 +69,6 @@ px4muorb::KraitRpcWrapper::~KraitRpcWrapper()
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}
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bool px4muorb::KraitRpcWrapper::Initialize()
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<<<<<<< 7fb496f94489542ed49b7734042db4543136ee4b
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{
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bool rc = true;
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PX4_DEBUG("%s Now calling rpcmem_init...", __FUNCTION__);
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rpcmem_init();
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PX4_DEBUG("%s Now calling rpcmem_alloc...", __FUNCTION__);
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_BulkTransferBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID, MUORB_KRAIT_FASTRPC_MEM_FLAGS,
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_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t));
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rc = (_BulkTransferBuffer != NULL) ? true : false;
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if (!rc) {
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PX4_ERR("%s rpcmem_alloc failed! for bulk transfer buffers", __FUNCTION__);
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return rc;
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} else {
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PX4_DEBUG("%s rpcmem_alloc passed for Bulk transfer buffers buffer_size: %d addr: %p",
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__FUNCTION__, (_MAX_BULK_TRANSFER_BUFFER_SIZE * sizeof(uint8_t)), _BulkTransferBuffer);
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}
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_TopicNameBuffer = (char *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
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MUORB_KRAIT_FASTRPC_MEM_FLAGS, _MAX_TOPIC_NAME_BUFFER * sizeof(char));
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rc = (_TopicNameBuffer != NULL) ? true : false;
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if (!rc) {
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PX4_ERR("%s rpcmem_alloc failed! for topic_name_buffer", __FUNCTION__);
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rpcmem_free(_BulkTransferBuffer);
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return rc;
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} else {
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PX4_DEBUG("%s rpcmem_alloc passed for topic_name_buffer", __FUNCTION__);
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}
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// now allocate the data buffer.
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_DataBuffer = (uint8_t *) rpcmem_alloc(MUORB_KRAIT_FASTRPC_HEAP_ID,
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MUORB_KRAIT_FASTRPC_MEM_FLAGS, _MAX_DATA_BUFFER_SIZE * sizeof(uint8_t));
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rc = (_DataBuffer != NULL) ? true : false;
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if (!rc) {
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PX4_ERR("%s rpcmem_alloc failed! for DataBuffer", __FUNCTION__);
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// free the topic name buffer;
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rpcmem_free(_BulkTransferBuffer);
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rpcmem_free(_TopicNameBuffer);
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_TopicNameBuffer = 0;
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return rc;
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} else {
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PX4_DEBUG("%s rpcmem_alloc passed for data_buffer", __FUNCTION__);
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}
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// call myorb intiialize rotine.
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if (px4muorb_orb_initialize() != 0) {
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PX4_ERR("%s Error calling the uorb fastrpc initalize method..", __FUNCTION__);
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rc = false;
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return rc;
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}
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_Initialized = true;
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return rc;
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}
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bool px4muorb::KraitRpcWrapper::Terminate()
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{
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if (_BulkTransferBuffer != NULL) {
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rpcmem_free(_BulkTransferBuffer);
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_BulkTransferBuffer = 0;
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}
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if (_TopicNameBuffer != NULL) {
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rpcmem_free(_TopicNameBuffer);
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_TopicNameBuffer = 0;
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}
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if (_DataBuffer != NULL) {
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rpcmem_free(_DataBuffer);
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_DataBuffer = 0;
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}
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_Initialized = false;
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return true;
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}
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int32_t px4muorb::KraitRpcWrapper::AddSubscriber(const char *topic)
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{
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return ((_Initialized) ? px4muorb_add_subscriber(topic) : -1);
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}
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int32_t px4muorb::KraitRpcWrapper::RemoveSubscriber(const char *topic)
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{
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return (_Initialized ? px4muorb_remove_subscriber(topic) : -1);
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}
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int32_t px4muorb::KraitRpcWrapper::IsSubscriberPresent(const char *topic, int32_t *status)
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{
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return (_Initialized ? px4muorb_is_subscriber_present(topic, status) : -1);
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}
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int32_t px4muorb::KraitRpcWrapper::SendData(const char *topic, int32_t length_in_bytes, const uint8_t *data)
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{
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return (_Initialized ? px4muorb_send_topic_data(topic, data, length_in_bytes) : -1);
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}
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int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic, int32_t *length_in_bytes,
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uint8_t **data)
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=======
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{
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bool rc = true;
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@ -307,42 +198,6 @@ int32_t px4muorb::KraitRpcWrapper::ReceiveData(int32_t *msg_type, char **topic,
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return rc;
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}
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int32_t px4muorb::KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data, int32_t *length_in_bytes, int32_t *topic_count)
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>>>>>>> Added rpcmem.a to posix_eagle_release build
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{
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int32_t rc = -1;
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if (_Initialized) {
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<<<<<<< 7fb496f94489542ed49b7734042db4543136ee4b
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rc = px4muorb_receive_msg(msg_type, _TopicNameBuffer, _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE,
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length_in_bytes);
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if (rc == 0) {
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*topic = _TopicNameBuffer;
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*data = _DataBuffer;
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} else {
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PX4_ERR("ERROR: Getting data from fastRPC link");
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=======
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//rc = px4muorb_receive_msg( msg_type, _TopicNameBuffer, _MAX_TOPIC_NAME_BUFFER, _DataBuffer, _MAX_DATA_BUFFER_SIZE, length_in_bytes );
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rc = px4muorb_receive_bulk_data(_BulkTransferBuffer, _MAX_BULK_TRANSFER_BUFFER_SIZE, length_in_bytes, topic_count);
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if (rc == 0) {
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*bulk_data = _BulkTransferBuffer;
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} else {
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PX4_ERR("ERROR: Getting Bulk data from fastRPC link");
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>>>>>>> Added rpcmem.a to posix_eagle_release build
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}
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} else {
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PX4_ERR("ERROR: FastRpcWrapper Not Initialized");
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}
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return rc;
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}
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<<<<<<< 7fb496f94489542ed49b7734042db4543136ee4b
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int32_t px4muorb::KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data, int32_t *length_in_bytes, int32_t *topic_count)
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{
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int32_t rc = -1;
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@ -365,8 +220,6 @@ int32_t px4muorb::KraitRpcWrapper::ReceiveBulkData(uint8_t **bulk_data, int32_t
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return rc;
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}
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=======
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>>>>>>> Added rpcmem.a to posix_eagle_release build
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int32_t px4muorb::KraitRpcWrapper::UnblockReceiveData()
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{
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return (_Initialized ? px4muorb_unblock_recieve_msg() : -1);
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