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uORB Remote Manager Update (#20623)

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This commit is contained in:
Zachary Lowell
2022-11-17 15:51:01 -06:00
committed by GitHub
parent 8b7c074680
commit 52b16d062c
13 changed files with 86 additions and 53 deletions
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55
platforms/common/uORB/uORBManager.cpp
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@@ -48,6 +48,10 @@
#include "uORBUtils.hpp"
#include "uORBManager.hpp"
#ifdef CONFIG_ORB_COMMUNICATOR
pthread_mutex_t uORB::Manager::_communicator_mutex = PTHREAD_MUTEX_INITIALIZER;
#endif
uORB::Manager *uORB::Manager::_Instance = nullptr;
bool uORB::Manager::initialize()
@@ -258,7 +262,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
}
}
#ifdef ORB_COMMUNICATOR
#ifdef CONFIG_ORB_COMMUNICATOR
/*
* Generate the path to the node and try to open it.
@@ -300,7 +304,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
}
}
#endif /* ORB_COMMUNICATOR */
#endif /* CONFIG_ORB_COMMUNICATOR */
return ret;
}
@@ -360,10 +364,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
return nullptr;
}
#ifdef ORB_COMMUNICATOR
#ifdef CONFIG_ORB_COMMUNICATOR
// For remote systems call over and inform them
uORB::DeviceNode::topic_advertised(meta);
#endif /* ORB_COMMUNICATOR */
#endif /* CONFIG_ORB_COMMUNICATOR */
/* the advertiser may perform an initial publish to initialise the object */
if (data != nullptr) {
@@ -611,7 +615,7 @@ int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, i
return fd;
}
#ifdef ORB_COMMUNICATOR
#ifdef CONFIG_ORB_COMMUNICATOR
void uORB::Manager::set_uorb_communicator(uORBCommunicator::IChannel *channel)
{
_comm_channel = channel;
@@ -623,18 +627,53 @@ void uORB::Manager::set_uorb_communicator(uORBCommunicator::IChannel *channel)
uORBCommunicator::IChannel *uORB::Manager::get_uorb_communicator()
{
return _comm_channel;
pthread_mutex_lock(&_communicator_mutex);
uORBCommunicator::IChannel *temp = _comm_channel;
pthread_mutex_unlock(&_communicator_mutex);
return temp;
}
int16_t uORB::Manager::process_remote_topic(const char *topic_name, bool isAdvertisement)
{
PX4_DEBUG("entering process_remote_topic: name: %s", topic_name);
int16_t rc = 0;
if (isAdvertisement) {
char nodepath[orb_maxpath];
int ret = uORB::Utils::node_mkpath(nodepath, topic_name);
DeviceMaster *device_master = get_device_master();
if (ret == OK && device_master && isAdvertisement) {
uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
if (node) {
node->mark_as_advertised();
_remote_topics.insert(topic_name);
return rc;
}
}
// Didn't find a node so we need to create it via an advertisement
const struct orb_metadata *const *topic_list = orb_get_topics();
orb_id_t topic_ptr = nullptr;
for (size_t i = 0; i < orb_topics_count(); i++) {
if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
topic_ptr = topic_list[i];
break;
}
}
if (topic_ptr) {
PX4_INFO("Advertising remote topic %s", topic_name);
_remote_topics.insert(topic_name);
orb_advertise(topic_ptr, nullptr);
} else {
PX4_INFO("process_remote_topic meta not found for %s\n", topic_name);
_remote_topics.erase(topic_name);
rc = -1;
}
return rc;
@@ -723,7 +762,7 @@ bool uORB::Manager::is_remote_subscriber_present(const char *messageName)
return _remote_subscriber_topics.find(messageName);
}
#endif /* ORB_COMMUNICATOR */
#endif /* CONFIG_ORB_COMMUNICATOR */
#ifdef ORB_USE_PUBLISHER_RULES