forked from Archive/PX4-Autopilot
71 lines
2.8 KiB
C++
71 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 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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* 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 <pthread.h>
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/events.h>
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#include <uORB/uORB.h>
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static orb_advert_t orb_event_pub = nullptr;
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static pthread_mutex_t publish_event_mutex = PTHREAD_MUTEX_INITIALIZER;
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static uint16_t event_sequence{events::initial_event_sequence};
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namespace events
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{
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void send(EventType &event)
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{
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event.timestamp = hrt_absolute_time();
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// We need some synchronization here because:
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// - modifying orb_event_pub
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// - the update of event_sequence needs to be atomic
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// - we need to ensure ordering of the sequence numbers: the sequence we set here
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// has to be the one published next.
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pthread_mutex_lock(&publish_event_mutex);
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event.event_sequence = ++event_sequence; // Set the sequence here so we're able to detect uORB queue overflows
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if (orb_event_pub != nullptr) {
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orb_publish(ORB_ID(event), orb_event_pub, &event);
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} else {
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orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH);
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}
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pthread_mutex_unlock(&publish_event_mutex);
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}
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} /* namespace events */
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