forked from Archive/PX4-Autopilot
Initial stab at supporting multiple publications on the same base name and auto-enumeration of additional publications.
This commit is contained in:
Lorenz Meier
parent
2c64471500
commit
8de411619a
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@ -97,6 +97,13 @@ else
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set unit_test_failure_list "${unit_test_failure_list} commander_tests"
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fi
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if uorb test
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then
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else
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set unit_test_failure 1
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set unit_test_failure_list "${unit_test_failure_list} uorb_tests"
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fi
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if hmc5883 -I start
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then
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# This is an FMUv3
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2015 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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@ -35,7 +35,9 @@
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#define _DRV_UORB_H
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/**
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* @file uORB published object driver.
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* @file drv_orb_dev.h
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*
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* uORB published object driver.
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*/
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#include <sys/types.h>
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@ -84,4 +86,7 @@
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/** Get the global advertiser handle for the topic */
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#define ORBIOCGADVERTISER _ORBIOC(13)
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/** Get the priority for the topic */
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#define ORBIOCGPRIORITY _ORBIOC(14)
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#endif /* _DRV_UORB_H */
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2015 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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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2015 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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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2015 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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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2015 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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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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# Copyright (c) 2012-2015 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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@ -37,8 +37,7 @@
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MODULE_COMMAND = uorb
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# XXX probably excessive, 2048 should be sufficient
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MODULE_STACKSIZE = 4096
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MODULE_STACKSIZE = 2048
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SRCS = uORB.cpp \
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objects_common.cpp \
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2015 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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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (Cc) 2012-2015 PX4 Development Team. All rights reserved.
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* Copyright (c) 2012-2015 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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@ -51,6 +51,7 @@
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <systemlib/err.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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@ -68,6 +69,7 @@
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namespace
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{
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/* internal use only */
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static const unsigned orb_maxpath = 64;
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/* oddly, ERROR is not defined for c++ */
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@ -81,17 +83,30 @@ enum Flavor {
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PARAM
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};
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struct orb_advertdata {
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const struct orb_metadata *meta;
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int *instance;
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int priority;
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};
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int
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node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta)
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node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta, int *instance = nullptr)
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{
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unsigned len;
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len = snprintf(buf, orb_maxpath, "/%s/%s",
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(f == PUBSUB) ? "obj" : "param",
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meta->o_name);
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unsigned index = 0;
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if (len >= orb_maxpath)
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if (instance != nullptr) {
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index = *instance;
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}
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len = snprintf(buf, orb_maxpath, "/%s/%s%d",
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(f == PUBSUB) ? "obj" : "param",
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meta->o_name, index);
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if (len >= orb_maxpath) {
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return -ENAMETOOLONG;
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}
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return OK;
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}
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@ -104,7 +119,7 @@ node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta)
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class ORBDevNode : public device::CDev
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{
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public:
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ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path);
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ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path, int priority);
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~ORBDevNode();
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virtual int open(struct file *filp);
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@ -126,6 +141,7 @@ private:
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struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */
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void *poll_priv; /**< saved copy of fds->f_priv while poll is active */
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bool update_reported; /**< true if we have reported the update via poll/check */
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int priority; /**< priority of publisher */
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};
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const struct orb_metadata *_meta; /**< object metadata information */
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@ -133,6 +149,7 @@ private:
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hrt_abstime _last_update; /**< time the object was last updated */
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volatile unsigned _generation; /**< object generation count */
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pid_t _publisher; /**< if nonzero, current publisher */
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const int _priority; /**< priority of topic */
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SubscriberData *filp_to_sd(struct file *filp) {
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SubscriberData *sd = (SubscriberData *)(filp->f_priv);
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@ -160,13 +177,14 @@ private:
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bool appears_updated(SubscriberData *sd);
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};
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ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path) :
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ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path, int priority) :
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CDev(name, path),
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_meta(meta),
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_data(nullptr),
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_last_update(0),
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_generation(0),
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_publisher(0)
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_publisher(0),
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_priority(priority)
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{
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// enable debug() calls
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_debug_enabled = true;
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@ -176,6 +194,7 @@ ORBDevNode::~ORBDevNode()
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{
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if (_data != nullptr)
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delete[] _data;
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}
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int
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@ -225,6 +244,9 @@ ORBDevNode::open(struct file *filp)
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/* default to no pending update */
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sd->generation = _generation;
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/* set priority */
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sd->priority = _priority;
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filp->f_priv = (void *)sd;
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ret = CDev::open(filp);
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@ -283,6 +305,9 @@ ORBDevNode::read(struct file *filp, char *buffer, size_t buflen)
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/* track the last generation that the file has seen */
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sd->generation = _generation;
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/* set priority */
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sd->priority = _priority;
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/*
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* Clear the flag that indicates that an update has been reported, as
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* we have just collected it.
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@ -364,6 +389,10 @@ ORBDevNode::ioctl(struct file *filp, int cmd, unsigned long arg)
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*(uintptr_t *)arg = (uintptr_t)this;
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return OK;
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case ORBIOCGPRIORITY:
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*(int *)arg = sd->priority;
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return OK;
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default:
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/* give it to the superclass */
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return CDev::ioctl(filp, cmd, arg);
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@ -556,40 +585,73 @@ ORBDevMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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switch (cmd) {
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case ORBIOCADVERTISE: {
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const struct orb_metadata *meta = (const struct orb_metadata *)arg;
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const struct orb_advertdata *adv = (const struct orb_advertdata *)arg;
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const struct orb_metadata *meta = adv->meta;
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const char *objname;
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const char *devpath;
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char nodepath[orb_maxpath];
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ORBDevNode *node;
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/* construct a path to the node - this also checks the node name */
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ret = node_mkpath(nodepath, _flavor, meta);
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ret = node_mkpath(nodepath, _flavor, meta, adv->instance);
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if (ret != OK)
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if (ret != OK) {
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return ret;
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}
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/* driver wants a permanent copy of the node name, so make one here */
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objname = strdup(meta->o_name);
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if (objname == nullptr)
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if (objname == nullptr) {
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return -ENOMEM;
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/* construct the new node */
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node = new ORBDevNode(meta, objname, nodepath);
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/* initialise the node - this may fail if e.g. a node with this name already exists */
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if (node != nullptr)
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ret = node->init();
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/* if we didn't get a device, that's bad */
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if (node == nullptr)
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return -ENOMEM;
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/* if init failed, discard the node and its name */
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if (ret != OK) {
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delete node;
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free((void *)objname);
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}
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/* ensure that only one advertiser runs through this critical section */
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lock();
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ret = ERROR;
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/* try for topic groups */
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const unsigned max_group_tries = (adv->instance != nullptr) ? ORB_MULTI_MAX_INSTANCES : 1;
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unsigned group_tries = 0;
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do {
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/* if path is modifyable change try index */
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if (adv->instance != nullptr) {
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/* replace the number at the end of the string */
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nodepath[strlen(nodepath) - 1] = '0' + group_tries;
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*(adv->instance) = group_tries;
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}
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/* driver wants a permanent copy of the path, so make one here */
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devpath = strdup(nodepath);
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/* construct the new node */
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node = new ORBDevNode(meta, objname, devpath, adv->priority);
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/* if we didn't get a device, that's bad */
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if (node == nullptr) {
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unlock();
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return -ENOMEM;
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}
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/* initialise the node - this may fail if e.g. a node with this name already exists */
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ret = node->init();
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/* if init failed, discard the node and its name */
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if (ret != OK) {
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delete node;
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free((void *)objname);
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}
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} while (ret != OK && (group_tries++ < max_group_tries));
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if (group_tries >= max_group_tries) {
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ret = -ENOMEM;
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}
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/* the file handle for the driver has been created, unlock */
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unlock();
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return ret;
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}
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@ -614,6 +676,7 @@ struct orb_test {
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};
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ORB_DEFINE(orb_test, struct orb_test);
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ORB_DEFINE(orb_multitest, struct orb_test);
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int
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test_fail(const char *fmt, ...)
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@ -643,8 +706,6 @@ test_note(const char *fmt, ...)
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return OK;
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}
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ORB_DECLARE(sensor_combined);
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int
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test()
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{
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@ -700,48 +761,65 @@ test()
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orb_unsubscribe(sfd);
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close(pfd);
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#if 0
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/* this is a hacky test that exploits the sensors app to test rate-limiting */
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/* this routine tests the multi-topic support */
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test_note("try multi-topic support");
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sfd = orb_subscribe(ORB_ID(sensor_combined));
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int instance0;
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int pfd0 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
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hrt_abstime start, end;
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unsigned count;
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test_note("advertised");
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usleep(300000);
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start = hrt_absolute_time();
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count = 0;
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int instance1;
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int pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
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do {
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orb_check(sfd, &updated);
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if (instance0 != 0)
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return test_fail("mult. id0: %d", instance0);
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if (updated) {
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orb_copy(ORB_ID(sensor_combined), sfd, nullptr);
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count++;
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}
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} while (count < 100);
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if (instance1 != 1)
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return test_fail("mult. id1: %d", instance1);
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end = hrt_absolute_time();
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test_note("full-speed, 100 updates in %llu", end - start);
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t.val = 103;
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if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t))
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return test_fail("mult. pub0 fail");
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|
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orb_set_interval(sfd, 10);
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test_note("published");
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usleep(300000);
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start = hrt_absolute_time();
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count = 0;
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t.val = 203;
|
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if (OK != orb_publish(ORB_ID(orb_multitest), pfd1, &t))
|
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return test_fail("mult. pub1 fail");
|
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|
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do {
|
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orb_check(sfd, &updated);
|
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/* subscribe to both topics and ensure valid data is received */
|
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int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
|
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|
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if (updated) {
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orb_copy(ORB_ID(sensor_combined), sfd, nullptr);
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count++;
|
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}
|
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} while (count < 100);
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if (OK != orb_copy(ORB_ID(orb_multitest), sfd0, &t))
|
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return test_fail("sub #0 copy failed: %d", errno);
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|
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end = hrt_absolute_time();
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test_note("100Hz, 100 updates in %llu", end - start);
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if (t.val != 103)
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return test_fail("sub #0 val. mismatch: %d", t.val);
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|
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orb_unsubscribe(sfd);
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#endif
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int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1);
|
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|
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if (OK != orb_copy(ORB_ID(orb_multitest), sfd1, &t))
|
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return test_fail("sub #1 copy failed: %d", errno);
|
||||
|
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if (t.val != 203)
|
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return test_fail("sub #1 val. mismatch: %d", t.val);
|
||||
|
||||
/* test priorities */
|
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int prio;
|
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if (OK != orb_priority(sfd0, &prio))
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return test_fail("prio #0");
|
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|
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if (prio != ORB_PRIO_MAX)
|
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return test_fail("prio: %d", prio);
|
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|
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if (OK != orb_priority(sfd1, &prio))
|
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return test_fail("prio #1");
|
||||
|
||||
if (prio != ORB_PRIO_MIN)
|
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return test_fail("prio: %d", prio);
|
||||
|
||||
return test_note("PASS");
|
||||
}
|
||||
|
|
@ -771,7 +849,7 @@ uorb_main(int argc, char *argv[])
|
|||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
fprintf(stderr, "[uorb] already loaded\n");
|
||||
warnx("already loaded");
|
||||
/* user wanted to start uorb, its already running, no error */
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -780,18 +858,17 @@ uorb_main(int argc, char *argv[])
|
|||
g_dev = new ORBDevMaster(PUBSUB);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
fprintf(stderr, "[uorb] driver alloc failed\n");
|
||||
warnx("driver alloc failed");
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
fprintf(stderr, "[uorb] driver init failed\n");
|
||||
warnx("driver init failed");
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
printf("[uorb] ready\n");
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
|
@ -807,8 +884,7 @@ uorb_main(int argc, char *argv[])
|
|||
if (!strcmp(argv[1], "status"))
|
||||
return info();
|
||||
|
||||
fprintf(stderr, "unrecognised command, try 'start', 'test' or 'status'\n");
|
||||
return -EINVAL;
|
||||
errx(-EINVAL, "unrecognized command, try 'start', 'test' or 'status'");
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
@ -825,11 +901,14 @@ namespace
|
|||
* we tried to advertise.
|
||||
*/
|
||||
int
|
||||
node_advertise(const struct orb_metadata *meta)
|
||||
node_advertise(const struct orb_metadata *meta, int *instance = nullptr, int priority = ORB_PRIO_DEFAULT)
|
||||
{
|
||||
int fd = -1;
|
||||
int ret = ERROR;
|
||||
|
||||
/* fill advertiser data */
|
||||
const struct orb_advertdata adv = { meta, instance, priority };
|
||||
|
||||
/* open the control device */
|
||||
fd = open(TOPIC_MASTER_DEVICE_PATH, 0);
|
||||
|
||||
|
|
@ -837,11 +916,12 @@ node_advertise(const struct orb_metadata *meta)
|
|||
goto out;
|
||||
|
||||
/* advertise the object */
|
||||
ret = ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)meta);
|
||||
ret = ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)&adv);
|
||||
|
||||
/* it's OK if it already exists */
|
||||
if ((OK != ret) && (EEXIST == errno))
|
||||
if ((OK != ret) && (EEXIST == errno)) {
|
||||
ret = OK;
|
||||
}
|
||||
|
||||
out:
|
||||
|
||||
|
|
@ -858,7 +938,7 @@ out:
|
|||
* advertisers.
|
||||
*/
|
||||
int
|
||||
node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool advertiser)
|
||||
node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool advertiser, int *instance = nullptr, int priority = ORB_PRIO_DEFAULT)
|
||||
{
|
||||
char path[orb_maxpath];
|
||||
int fd, ret;
|
||||
|
|
@ -883,7 +963,7 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve
|
|||
/*
|
||||
* Generate the path to the node and try to open it.
|
||||
*/
|
||||
ret = node_mkpath(path, f, meta);
|
||||
ret = node_mkpath(path, f, meta, instance);
|
||||
|
||||
if (ret != OK) {
|
||||
errno = -ret;
|
||||
|
|
@ -893,15 +973,34 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve
|
|||
/* open the path as either the advertiser or the subscriber */
|
||||
fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
|
||||
|
||||
/* if we want to advertise and the node existed, we have to re-try again */
|
||||
if ((fd >= 0) && (instance != nullptr) && (advertiser)) {
|
||||
/* close the fd, we want a new one */
|
||||
close(fd);
|
||||
/* the node_advertise call will automatically go for the next free entry */
|
||||
fd = -1;
|
||||
}
|
||||
|
||||
/* we may need to advertise the node... */
|
||||
if (fd < 0) {
|
||||
|
||||
/* try to create the node */
|
||||
ret = node_advertise(meta);
|
||||
ret = node_advertise(meta, instance, priority);
|
||||
|
||||
if (ret == OK) {
|
||||
/* update the path, as it might have been updated during the node_advertise call */
|
||||
ret = node_mkpath(path, f, meta, instance);
|
||||
|
||||
if (ret != OK) {
|
||||
errno = -ret;
|
||||
return ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
/* on success, try the open again */
|
||||
if (ret == OK)
|
||||
if (ret == OK) {
|
||||
fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
|
||||
}
|
||||
}
|
||||
|
||||
if (fd < 0) {
|
||||
|
|
@ -917,12 +1016,18 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve
|
|||
|
||||
orb_advert_t
|
||||
orb_advertise(const struct orb_metadata *meta, const void *data)
|
||||
{
|
||||
return orb_advertise_multi(meta, data, nullptr, ORB_PRIO_DEFAULT);
|
||||
}
|
||||
|
||||
orb_advert_t
|
||||
orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, int priority)
|
||||
{
|
||||
int result, fd;
|
||||
orb_advert_t advertiser;
|
||||
|
||||
/* open the node as an advertiser */
|
||||
fd = node_open(PUBSUB, meta, data, true);
|
||||
fd = node_open(PUBSUB, meta, data, true, instance, priority);
|
||||
if (fd == ERROR)
|
||||
return ERROR;
|
||||
|
||||
|
|
@ -933,7 +1038,7 @@ orb_advertise(const struct orb_metadata *meta, const void *data)
|
|||
return ERROR;
|
||||
|
||||
/* the advertiser must perform an initial publish to initialise the object */
|
||||
result= orb_publish(meta, advertiser, data);
|
||||
result = orb_publish(meta, advertiser, data);
|
||||
if (result == ERROR)
|
||||
return ERROR;
|
||||
|
||||
|
|
@ -946,6 +1051,13 @@ orb_subscribe(const struct orb_metadata *meta)
|
|||
return node_open(PUBSUB, meta, nullptr, false);
|
||||
}
|
||||
|
||||
int
|
||||
orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
|
||||
{
|
||||
int inst = instance;
|
||||
return node_open(PUBSUB, meta, nullptr, false, &inst);
|
||||
}
|
||||
|
||||
int
|
||||
orb_unsubscribe(int handle)
|
||||
{
|
||||
|
|
@ -988,6 +1100,12 @@ orb_stat(int handle, uint64_t *time)
|
|||
return ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
|
||||
}
|
||||
|
||||
int
|
||||
orb_priority(int handle, int *priority)
|
||||
{
|
||||
return ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
|
||||
}
|
||||
|
||||
int
|
||||
orb_set_interval(int handle, unsigned interval)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
@ -56,6 +56,25 @@ struct orb_metadata {
|
|||
|
||||
typedef const struct orb_metadata *orb_id_t;
|
||||
|
||||
/**
|
||||
* Maximum number of multi topic instances
|
||||
*/
|
||||
#define ORB_MULTI_MAX_INSTANCES 4
|
||||
|
||||
/**
|
||||
* Topic priority.
|
||||
* Relevant for multi-topics / topic groups
|
||||
*/
|
||||
enum ORB_PRIO {
|
||||
ORB_PRIO_MIN = 0,
|
||||
ORB_PRIO_VERY_LOW = 25,
|
||||
ORB_PRIO_LOW = 50,
|
||||
ORB_PRIO_DEFAULT = 75,
|
||||
ORB_PRIO_HIGH = 100,
|
||||
ORB_PRIO_VERY_HIGH = 125,
|
||||
ORB_PRIO_MAX = 255
|
||||
};
|
||||
|
||||
/**
|
||||
* Generates a pointer to the uORB metadata structure for
|
||||
* a given topic.
|
||||
|
|
@ -128,7 +147,7 @@ typedef const struct orb_metadata *orb_id_t;
|
|||
#define ORB_DEFINE(_name, _struct) \
|
||||
const struct orb_metadata __orb_##_name = { \
|
||||
#_name, \
|
||||
sizeof(_struct) \
|
||||
sizeof(_struct), \
|
||||
}; struct hack
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
|
@ -167,6 +186,34 @@ typedef intptr_t orb_advert_t;
|
|||
*/
|
||||
extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
|
||||
|
||||
/**
|
||||
* Advertise as the publisher of a topic.
|
||||
*
|
||||
* This performs the initial advertisement of a topic; it creates the topic
|
||||
* node in /obj if required and publishes the initial data.
|
||||
*
|
||||
* Any number of advertisers may publish to a topic; publications are atomic
|
||||
* but co-ordination between publishers is not provided by the ORB.
|
||||
*
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
* @param data A pointer to the initial data to be published.
|
||||
* For topics updated by interrupt handlers, the advertisement
|
||||
* must be performed from non-interrupt context.
|
||||
* @param instance Pointer to an integer which will yield the instance ID (0-based)
|
||||
* of the publication.
|
||||
* @param priority The priority of the instance. If a subscriber subscribes multiple
|
||||
* instances, the priority allows the subscriber to prioritize the best
|
||||
* data source as long as its available.
|
||||
* @return ERROR on error, otherwise returns a handle
|
||||
* that can be used to publish to the topic.
|
||||
* If the topic in question is not known (due to an
|
||||
* ORB_DEFINE with no corresponding ORB_DECLARE)
|
||||
* this function will return -1 and set errno to ENOENT.
|
||||
*/
|
||||
extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, int priority) __EXPORT;
|
||||
|
||||
|
||||
/**
|
||||
* Publish new data to a topic.
|
||||
*
|
||||
|
|
@ -210,6 +257,8 @@ extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, con
|
|||
*/
|
||||
extern int orb_subscribe(const struct orb_metadata *meta) __EXPORT;
|
||||
|
||||
extern int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance) __EXPORT;
|
||||
|
||||
/**
|
||||
* Unsubscribe from a topic.
|
||||
*
|
||||
|
|
@ -266,6 +315,18 @@ extern int orb_check(int handle, bool *updated) __EXPORT;
|
|||
*/
|
||||
extern int orb_stat(int handle, uint64_t *time) __EXPORT;
|
||||
|
||||
/**
|
||||
* Return the priority of the topic
|
||||
*
|
||||
* @param handle A handle returned from orb_subscribe.
|
||||
* @param priority Returns the priority of this topic. This is only relevant for
|
||||
* topics which are published by multiple publishers (e.g. mag0, mag1, etc.)
|
||||
* and allows a subscriber to automatically pick the topic with the highest
|
||||
* priority, independent of the startup order of the associated publishers.
|
||||
* @return OK on success, ERROR otherwise with errno set accordingly.
|
||||
*/
|
||||
extern int orb_priority(int handle, int *priority) __EXPORT;
|
||||
|
||||
/**
|
||||
* Set the minimum interval between which updates are seen for a subscription.
|
||||
*
|
||||
|
|
|
|||
Loading…
Reference in New Issue