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

258 lines
7.8 KiB
C

/****************************************************************************
*
* 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name PX4 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 BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE 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.
*
****************************************************************************/
#pragma once
/**
* @file uORB.h
* API for the uORB lightweight object broker.
*/
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
typedef uint16_t orb_id_size_t;
/**
* Object metadata.
*/
struct orb_metadata {
const char *o_name; /**< unique object name */
const uint16_t o_size; /**< object size */
const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */
uint32_t message_hash; /**< Hash over all fields for message compatibility checks */
orb_id_size_t o_id; /**< ORB_ID enum */
uint8_t o_queue; /**< queue size */
};
typedef const struct orb_metadata *orb_id_t;
/**
* Maximum number of multi topic instances. This must be <= 10 (because it's the last char of the node path)
*/
#if defined(CONSTRAINED_MEMORY)
# define ORB_MULTI_MAX_INSTANCES 4
#else
# define ORB_MULTI_MAX_INSTANCES 10
#endif
/**
* Generates a pointer to the uORB metadata structure for
* a given topic.
*
* The topic must have been declared previously in scope
* with ORB_DECLARE().
*
* @param _name The name of the topic.
*/
#define ORB_ID(_name) &__orb_##_name
/**
* Declare (prototype) the uORB metadata for a topic (used by code generators).
*
* @param _name The name of the topic.
*/
#if defined(__cplusplus)
# define ORB_DECLARE(_name) extern "C" const struct orb_metadata __orb_##_name __EXPORT
#else
# define ORB_DECLARE(_name) extern const struct orb_metadata __orb_##_name __EXPORT
#endif
/**
* Define (instantiate) the uORB metadata for a topic.
*
* The uORB metadata is used to help ensure that updates and
* copies are accessing the right data.
*
* Note that there must be no more than one instance of this macro
* for each topic.
*
* @param _name The name of the topic.
* @param _struct The structure the topic provides.
* @param _size_no_padding Struct size w/o padding at the end
* @param _message_hash 32 bit message hash over all fields
* @param _orb_id_enum ORB ID enum e.g.: ORB_ID::vehicle_status
* @param _queue_size Queue size from topic definition
*/
#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size) \
const struct orb_metadata __orb_##_name = { \
#_name, \
sizeof(_struct), \
_size_no_padding, \
_message_hash, \
_orb_id_enum, \
_queue_size \
}; struct hack
__BEGIN_DECLS
int uorb_start(void);
int uorb_status(void);
int uorb_top(char **topic_filter, int num_filters);
/**
* ORB topic advertiser handle.
*
* Advertiser handles are global; once obtained they can be shared freely
* and do not need to be closed or released.
*
* This permits publication from interrupt context and other contexts where
* a file-descriptor-based handle would not otherwise be in scope for the
* publisher.
*/
typedef void *orb_advert_t;
/**
* @see uORB::Manager::orb_advertise()
*/
extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
/**
* @see uORB::Manager::orb_advertise_multi()
*/
extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __EXPORT;
/**
* @see uORB::Manager::orb_unadvertise()
*/
extern int orb_unadvertise(orb_advert_t handle) __EXPORT;
/**
* @see uORB::Manager::orb_publish()
*/
extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, 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.
*
* @see uORB::Manager::orb_advertise_multi() for meaning of the individual parameters
*/
static inline int orb_publish_auto(const struct orb_metadata *meta, orb_advert_t *handle, const void *data,
int *instance)
{
if (!*handle) {
*handle = orb_advertise_multi(meta, data, instance);
if (*handle) {
return 0;
}
} else {
return orb_publish(meta, *handle, data);
}
return -1;
}
/**
* @see uORB::Manager::orb_subscribe()
*/
extern int orb_subscribe(const struct orb_metadata *meta) __EXPORT;
/**
* @see uORB::Manager::orb_subscribe_multi()
*/
extern int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance) __EXPORT;
/**
* @see uORB::Manager::orb_unsubscribe()
*/
extern int orb_unsubscribe(int handle) __EXPORT;
/**
* @see uORB::Manager::orb_copy()
*/
extern int orb_copy(const struct orb_metadata *meta, int handle, void *buffer) __EXPORT;
/**
* @see uORB::Manager::orb_check()
*/
extern int orb_check(int handle, bool *updated) __EXPORT;
/**
* @see uORB::Manager::orb_exists()
*/
extern int orb_exists(const struct orb_metadata *meta, int instance) __EXPORT;
/**
* Get the number of published instances of a topic group
*
* @param meta ORB topic metadata.
* @return The number of published instances of this topic
*/
extern int orb_group_count(const struct orb_metadata *meta) __EXPORT;
/**
* @see uORB::Manager::orb_set_interval()
*/
extern int orb_set_interval(int handle, unsigned interval) __EXPORT;
/**
* @see uORB::Manager::orb_get_interval()
*/
extern int orb_get_interval(int handle, unsigned *interval) __EXPORT;
/**
* Returns the C type string from a short type in message fields metadata, or nullptr
* if not a short type
*/
const char *orb_get_c_type(unsigned char short_type);
/**
* Returns the queue size of a topic
* @param meta orb topic metadata
*/
extern uint8_t orb_get_queue_size(const struct orb_metadata *meta);
/**
* Print a topic to console. Do not call this directly, use print_message() instead.
* @param meta orb topic metadata
* @param data expected to be aligned to the largest member
*/
void orb_print_message_internal(const struct orb_metadata *meta, const void *data, bool print_topic_name);
__END_DECLS
/* Diverse uORB header defines */ //XXX: move to better location
typedef uint8_t arming_state_t;
typedef uint8_t main_state_t;
typedef uint8_t hil_state_t;
typedef uint8_t navigation_state_t;
typedef uint8_t switch_pos_t;