forked from Archive/PX4-Autopilot
139 lines
4.4 KiB
C++
139 lines
4.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015 Mark Charlebois. 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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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "uORBCommunicatorMockLoopback.hpp"
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#include "uORB/uORB.h"
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#include "uORBGtestTopics.hpp"
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#include "uORBManager.hpp"
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#include <string.h>
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#include "px4_log.h"
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#define LOG_TAG "uORBCommunicatorMockLoopback.cpp"
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uORB_test::uORBCommunicatorMockLoopback::uORBCommunicatorMockLoopback()
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: _rx_handler( nullptr )
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{
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//_sub_topicA_clone_fd = orb_subscribe( ORB_ID( topicA_clone ), (void*)&_sub_semaphore );
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//_sub_topicB_clone_fd = orb_subscribe( ORB_ID( topicB_clone ), nullptr );
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_topic_translation_map[ "topicA" ] = "topicA_clone";
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_topic_translation_map[ "topicB" ] = "topicB_clone";
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_topic_translation_map[ "topicA_clone" ] = "topicA";
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_topic_translation_map[ "topicB_clone" ] = "topicB";
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}
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int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription
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(
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const char * messageName,
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int32_t msgRateInHz
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)
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{
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int16_t rc = -1;
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PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName, msgRateInHz );
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if( _rx_handler )
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{
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if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
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{
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rc = _rx_handler->process_add_subscription
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(
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_topic_translation_map[messageName].c_str(),
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msgRateInHz
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);
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}
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}
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return rc;
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}
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int16_t uORB_test::uORBCommunicatorMockLoopback::remove_subscription
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(
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const char * messageName
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)
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{
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int16_t rc = -1;
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PX4_INFO( "got remove_subscription for msg[%s]", messageName );
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if( _rx_handler )
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{
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if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
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{
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rc = _rx_handler->process_remove_subscription
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(
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_topic_translation_map[messageName].c_str()
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);
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}
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}
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return rc;
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}
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int16_t uORB_test::uORBCommunicatorMockLoopback::register_handler
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(
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uORBCommunicator::IChannelRxHandler* handler
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)
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{
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int16_t rc = 0;
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_rx_handler = handler;
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return rc;
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}
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int16_t uORB_test::uORBCommunicatorMockLoopback::send_message
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(
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const char * messageName,
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int32_t length,
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uint8_t* data
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)
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{
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int16_t rc = -1;
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PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName, length );
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if( _rx_handler )
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{
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if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
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{
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if( uORB::Manager::get_instance()->is_remote_subscriber_present( _topic_translation_map[messageName].c_str() ) )
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{
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rc = _rx_handler->process_received_message
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( _topic_translation_map[messageName].c_str(), length, data );
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PX4_INFO( "[uORBCommunicatorMockLoopback::send_message] return from[topic(%s)] _rx_handler->process_received_message[%d]", messageName, rc );
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}
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else
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{
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// this is eqvuilanet of not sending the message to the remote.
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rc = 0;
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}
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}
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}
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return rc;
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}
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