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feat(uORB): Add an own type, orb_sub_t, for subscription handles (#27457)

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* platforms/common/uORB/uORB.h: Add definition for orb_sub_t and handle check functions

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

* uORB: Change subscriber id:s from int to orb_sub_t

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

* uxrce_dds_client: Change polling of transport device from px4_poll to poll

Use posix poll directly, there is no need to use px4_poll unless uORBs are
being polled.

The one used here is a normal filesystem/device poll, so we can use normal "poll",
this is the common pattern in the codebase.

Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>

* Fix linking for protected build

This fixes errors for memalign not linking on some configurations.
Memalign exists in nuttx kernel-side mm library and it may fail in configurations
where kernel and userspace are separated. This has no effect on other than
"CONFIG_BUILD_PROTECTED" or "CONFIG_BUILD_KERNEL" NuttX builds.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>

---------

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
Co-authored-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2026-06-23 18:13:51 +03:00
committed by GitHub
parent e24cda2fd9
commit 3042f906ab
47 changed files with 173 additions and 158 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
platforms/common/uORB/uORBManager.cpp
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@@ -344,18 +344,18 @@ int uORB::Manager::orb_unadvertise(orb_advert_t handle)
return uORB::DeviceNode::unadvertise(handle);
}
int uORB::Manager::orb_subscribe(const struct orb_metadata *meta)
orb_sub_t uORB::Manager::orb_subscribe(const struct orb_metadata *meta)
{
return node_open(meta, false);
}
int uORB::Manager::orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
orb_sub_t uORB::Manager::orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
{
int inst = instance;
return node_open(meta, false, &inst);
}
int uORB::Manager::orb_unsubscribe(int fd)
int uORB::Manager::orb_unsubscribe(orb_sub_t fd)
{
return px4_close(fd);
}
@@ -373,7 +373,7 @@ int uORB::Manager::orb_publish(const struct orb_metadata *meta, orb_advert_t han
return uORB::DeviceNode::publish(meta, handle, data);
}
int uORB::Manager::orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
int uORB::Manager::orb_copy(const struct orb_metadata *meta, orb_sub_t handle, void *buffer)
{
int ret;
@@ -391,19 +391,19 @@ int uORB::Manager::orb_copy(const struct orb_metadata *meta, int handle, void *b
return PX4_OK;
}
int uORB::Manager::orb_check(int handle, bool *updated)
int uORB::Manager::orb_check(orb_sub_t handle, bool *updated)
{
/* Set to false here so that if `px4_ioctl` fails to false. */
*updated = false;
return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
}
int uORB::Manager::orb_set_interval(int handle, unsigned interval)
int uORB::Manager::orb_set_interval(orb_sub_t handle, unsigned interval)
{
return px4_ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
}
int uORB::Manager::orb_get_interval(int handle, unsigned *interval)
int uORB::Manager::orb_get_interval(orb_sub_t handle, unsigned *interval)
{
int ret = px4_ioctl(handle, ORBIOCGETINTERVAL, (unsigned long)interval);
*interval /= 1000;