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This adds support for a dynamic build for QuRT and initial Multi-uORB changes to enable communication between the DSP and the application processor. This part of the changes do not affect the POSIX build. This is enablement for the QuRT build using Multi-uORB. The second part of the changes will be added in a new module under src/modules. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
128 lines
4.0 KiB
C++
128 lines
4.0 KiB
C++
//=============================================================================
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// File: uORB_test.cpp
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//
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// @@-COPYRIGHT-START-@@
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//
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// Copyright 2014 Qualcomm Technologies, Inc. All rights reserved.
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// Confidential & Proprietary - Qualcomm Technologies, Inc. ("QTI")
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//
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// The party receiving this software directly from QTI (the "Recipient")
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// may use this software as reasonably necessary solely for the purposes
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// set forth in the agreement between the Recipient and QTI (the
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// "Agreement"). The software may be used in source code form solely by
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// the Recipient's employees (if any) authorized by the Agreement. Unless
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// expressly authorized in the Agreement, the Recipient may not sublicense,
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// assign, transfer or otherwise provide the source code to any third
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// party. Qualcomm Technologies, Inc. retains all ownership rights in and
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// to the software
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//
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// This notice supersedes any other QTI notices contained within the software
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// except copyright notices indicating different years of publication for
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// different portions of the software. This notice does not supersede the
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// application of any third party copyright notice to that third party's
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// code.
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//
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// @@-COPYRIGHT-END-@@
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//
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//=============================================================================
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#ifndef _uORBCommunicatorMockLoopback_hpp_
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#define _uORBCommunicatorMockLoopback_hpp_
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#include "uORB/uORBCommunicator.hpp"
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#include "uORBGtestTopics.hpp"
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#include <map>
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#include <set>
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namespace uORB_test
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{
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class uORBCommunicatorMockLoopback;
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}
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class uORB_test::uORBCommunicatorMockLoopback : public uORBCommunicator::IChannel
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{
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public:
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uORBCommunicatorMockLoopback();
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/**
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* @brief Interface to notify the remote entity of interest of a
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* subscription for a message.
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*
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* @param messageName
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* This represents the uORB message name; This message name should be
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* globally unique.
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* @param msgRate
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* The max rate at which the subscriber can accept the messages.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t add_subscription( const std::string& messageName, int32_t msgRateInHz );
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/**
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* @brief Interface to notify the remote entity of removal of a subscription
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*
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* @param messageName
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* This represents the uORB message name; This message name should be
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* globally unique.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not necessarily mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t remove_subscription( const std::string& messageName );
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/**
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* Register Message Handler. This is internal for the IChannel implementer*
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*/
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virtual int16_t register_handler( uORBCommunicator::IChannelRxHandler* handler );
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/**
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* @brief Sends the data message over the communication link.
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* @param messageName
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* This represents the uORB message name; This message name should be
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* globally unique.
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* @param length
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* The length of the data buffer to be sent.
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* @param data
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* The actual data to be sent.
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* @return
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* 0 = success; This means the messages is successfully sent to the receiver
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* Note: This does not mean that the receiver as received it.
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* otherwise = failure.
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*/
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virtual int16_t send_message( const std::string& messageName, int32_t length, uint8_t* data);
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uORBCommunicator::IChannelRxHandler* get_rx_handler()
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{
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return _rx_handler;
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}
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/*
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bool get_remote_topicA_data( struct orb_topic_A* data );
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bool get_remote_topicB_data( struct orb_topic_B* data );
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*/
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private:
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uORBCommunicator::IChannelRxHandler* _rx_handler;
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/*
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int _sub_topicA_clone_fd;
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int _sub_topicB_clone_fd;
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pal::Semaphore _sub_semaphore;
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*/
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std::map<std::string, std::string> _topic_translation_map;
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/*
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struct orb_topic_A _topicAData;
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struct orb_topic_B _topicBData;
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*/
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};
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#endif /* _uORBCommunicatorMockLoopback_hpp_ */
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