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Clean up interfaces towards uORB

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Proxy all calls to the DeviceNode through Manager;
- This hides the DeviceNode from publishers and subscribers
- Manager can be made an interface class between user and kernel spaces in protected build
- This doesn't increase code size or harm the performance on flat build

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2020-12-17 16:18:02 +02:00
committed by Beat Küng
parent 99d3b2a4e4
commit 0b9505453d
8 changed files with 121 additions and 57 deletions
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17
platforms/common/uORB/uORB.cpp
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@@ -94,7 +94,6 @@ int uorb_top(char **topic_filter, int num_filters)
return OK;
}
orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
{
return uORB::Manager::get_instance()->orb_advertise(meta, data);
@@ -121,42 +120,42 @@ int orb_unadvertise(orb_advert_t handle)
return uORB::Manager::get_instance()->orb_unadvertise(handle);
}
int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
{
return uORB::Manager::get_instance()->orb_publish(meta, handle, data);
}
int orb_subscribe(const struct orb_metadata *meta)
int orb_subscribe(const struct orb_metadata *meta)
{
return uORB::Manager::get_instance()->orb_subscribe(meta);
}
int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
{
return uORB::Manager::get_instance()->orb_subscribe_multi(meta, instance);
}
int orb_unsubscribe(int handle)
int orb_unsubscribe(int handle)
{
return uORB::Manager::get_instance()->orb_unsubscribe(handle);
}
int orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
int orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
{
return uORB::Manager::get_instance()->orb_copy(meta, handle, buffer);
}
int orb_check(int handle, bool *updated)
int orb_check(int handle, bool *updated)
{
return uORB::Manager::get_instance()->orb_check(handle, updated);
}
int orb_exists(const struct orb_metadata *meta, int instance)
int orb_exists(const struct orb_metadata *meta, int instance)
{
return uORB::Manager::get_instance()->orb_exists(meta, instance);
}
int orb_group_count(const struct orb_metadata *meta)
int orb_group_count(const struct orb_metadata *meta)
{
unsigned instance = 0;