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move src/firmware/ to platforms
This commit is contained in:
Daniel Agar
60
platforms/qurt/CMakeLists.txt
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60
platforms/qurt/CMakeLists.txt
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
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include(common/px4_upload)
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include(toolchain/Toolchain-qurt)
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include(fastrpc)
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include(qurt_lib)
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include(qurt_flags)
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
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get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
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px4_qurt_generate_builtin_commands(
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OUT ${PX4_BINARY_DIR}/apps
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MODULE_LIST ${module_libraries})
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FASTRPC_STUB_GEN(px4muorb.idl)
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# Enable build without HexagonSDK to check link dependencies
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if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
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add_definitions(-D QURT_EXE_BUILD=1)
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include_directories(
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${CMAKE_CURRENT_BINARY_DIR}
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${FASTRPC_DSP_INCLUDES}
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)
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add_executable(px4
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${PX4_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
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${PX4_BINARY_DIR}/apps.cpp)
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target_link_libraries(px4
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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-Wl,--end-group
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)
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else()
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# Generate the DSP lib and stubs but not the apps side executable
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# The Apps side executable is generated via the posix_eagle_xxxx target
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QURT_LIB(LIB_NAME px4
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IDL_NAME px4muorb
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SOURCES
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${PX4_BINARY_DIR}/apps.cpp
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LINK_LIBS
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${module_libraries}
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${df_driver_libs}
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m
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)
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px4_add_adb_push(OUT upload
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/libpx4.so
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${CMAKE_CURRENT_BINARY_DIR}/libpx4muorb_skel.so
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${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
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DEPENDS px4 px4muorb_skel
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DEST /usr/share/data/adsp)
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endif()
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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184
platforms/qurt/px4muorb.idl
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184
platforms/qurt/px4muorb.idl
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@@ -0,0 +1,184 @@
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//=======================================================================
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// Copyright (c) 2016, 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 are
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// met:
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// * 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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// * Redistributions in binary form must reproduce the above
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// copyright notice, this list of conditions and the following
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// disclaimer in the documentation and/or other materials provided
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// with the distribution.
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// * Neither the name of The Linux Foundation nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
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// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
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// BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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// BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
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// OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
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// IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//=========================================================================
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#include "AEEStdDef.idl"
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interface px4muorb{
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/**
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* interface method to start the uorb service and initialize the muorb
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*/
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AEEResult orb_initialize();
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/**
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* Interface to set an offset to hrt_absolute_time on the DSP.
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*
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* @param time_diff_us: time difference of the DSP clock to Linux clock.
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* A positive number means the Linux clock is ahead of the DSP one.
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*/
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AEEResult set_absolute_time_offset( in long time_diff_us );
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/**
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* Interface to request hrt_absolute_time on the DSP.
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* @param time_us: pointer to time in us
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*/
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AEEResult get_absolute_time(rout unsigned long long time_us);
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/**
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* Interface to update param for krait.
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*
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* @param param: param index.
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* @param value: param value.
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*/
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AEEResult param_update_to_shmem( in unsigned long param, in sequence<octet> value);
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/**
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* Interface to update index for krait.
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* @param data: param index array.
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*/
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AEEResult param_update_index_from_shmem( rout sequence<octet> data);
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/**
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* Interface to get param value for krait.
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*
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* @param param: param index.
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* @param value: param value.
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*/
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AEEResult param_update_value_from_shmem( in unsigned long param, rout sequence<octet> value);
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/**
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* Interface called from krait to inform of a published topic.
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* @param topic_name: name of the topic being advertised
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*/
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AEEResult topic_advertised(in string topic_name);
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/**
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* Interface called from krait to inform of a published topic.
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* @param topic_name: name of the topic being advertised
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*/
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AEEResult topic_unadvertised(in string topic_name);
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/**
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* Interface to add a subscriber to the identified topic
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* @param topic_name
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* @return status
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* 0 == success
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* all others is a failure.
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*/
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AEEResult add_subscriber( in string topic_name );
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/**
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* Interface to remove a subscriber for the identified topic.
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* @param topic_name
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* @return status
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* 0 == success
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* all others is a failure.
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*/
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AEEResult remove_subscriber( in string topic_name );
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/**
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* Interface called from krait for topic data.
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* @param topic_name
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* @param data
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* a sequence of bytes for the passed data stream.
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* as per the HExagon Documention, the max size of this stream is 255 bytes.
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* @return status
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* 0 == success
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* all others is a failure.
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*/
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AEEResult send_topic_data( in string topic_name, in sequence<octet> data );
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/**
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* Inteface to check if there are subscribers on the remote adsp client
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* This inteface is required as the krait app can be restarted without adsp
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* being re-started. In this scenario the krait app does not know if there
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* is subscriber on the remote end(ie adsp).
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* @param topic_name
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* The name of the topic for which the subscription needs to be checked.
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* @param rout int status
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* The status of the subscription, 0=no-subscribers, 1 = more than one subscriber.
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* @return status
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* 0 == success
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* all others is a failure.
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*/
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AEEResult is_subscriber_present( in string topic_name, rout long status );
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/**
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* Interface to receive data from adsp. Since there is only one interface, the different message
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* types are identified by the msg_type field.
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* @param msg_type
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* The possible values are:
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* 1 ==> add_subscriber
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* 2 ==> remove_subscriber
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* 3 ==> recieve_topic_data
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* 4 ==> advertised_topic
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* @note: for message types, 1 & 2, the data pointer returned is null with length of 0.
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* @param topic_name
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* The topic being returned.
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* @param data
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* the data stream
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* @param bytes_returned
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* The number of bytes returned in the byte buffer.
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* @return status
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* 0 == success
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* all others is a failure.
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*/
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AEEResult receive_msg( rout long msg_type, rout string topic_name, rout sequence<octet> data, rout long bytes_returned );
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/**
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* Since the receive_msg is a blocking call, the client will not be able to peform a clean shutdown. Calling this
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* function will unblock the receive msg an return an error code.
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* Ideally this should be implemented as a timeout for the #receive_msg call.
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* @param none
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* @return status
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* 0 = success
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* all others is a failure.
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**/
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AEEResult unblock_recieve_msg();
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/**
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* This interface will perform a bulk read from the adsp and return the data buffer.
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* The structure of the messages is as follows
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* +----------------+-----------+---------------+----------+----------------+
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* | Topic Name Len | datal_len |TopicName(nullterminated) | data bytes |
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* +----------------+-----------+---------------+----------+----------------+
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* |<-- 2 bytes -->|<-2bytes-> |<-- topicnamelen bytes -->|<-datalenbytes->|
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* +----------------+---------------------------+----------+----------------+
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* @param data
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* The output buffer where the data needs to be copied
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* @param bytes_returned
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* The number of bytes the buffer is filled up by.
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* @param topic_count
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* The numbe of topics filled in the buffer.
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* @return status
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* 0 = success
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* all others is a failure.
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**/
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AEEResult receive_bulk_data( rout sequence<octet> data, rout long bytes_returned, rout long topic_count );
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};
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