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296 lines
8.1 KiB
C++
296 lines
8.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2015 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
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* are met:
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*
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* 1. 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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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "px4muorb.hpp"
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#include "uORBFastRpcChannel.hpp"
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#include "uORBManager.hpp"
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/posix.h>
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#include <dspal_platform.h>
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#include "uORB.h"
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#include <parameters/param.h>
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#include <px4_platform_common/shmem.h>
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#include <px4_platform_common/log.h>
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__BEGIN_DECLS
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extern int dspal_main(int argc, char *argv[]);
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__END_DECLS
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int px4muorb_orb_initialize()
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{
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HAP_power_request(100, 100, 1000);
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shmem_info_p = NULL;
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// The uORB Manager needs to be initialized first up, otherwise the instance is nullptr.
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uORB::Manager::initialize();
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// Register the fastrpc muorb with uORBManager.
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uORB::Manager::get_instance()->set_uorb_communicator(
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uORB::FastRpcChannel::GetInstance());
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// Now continue with the usual dspal startup.
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const char *argv[] = { "dspal", "start" };
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int argc = 2;
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int rc;
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rc = dspal_main(argc, (char **) argv);
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return rc;
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}
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int px4muorb_set_absolute_time_offset(int32_t time_diff_us)
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{
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return hrt_set_absolute_time_offset(time_diff_us);
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}
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int px4muorb_get_absolute_time(uint64_t *time_us)
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{
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*time_us = hrt_absolute_time();
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return 0;
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}
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/*update value and param's change bit in shared memory*/
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int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value,
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int data_len_in_bytes)
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{
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unsigned int byte_changed, bit_changed;
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union param_value_u *param_value = (union param_value_u *) value;
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if (!shmem_info_p) {
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init_shared_memory();
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}
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_INFO("Could not get shmem lock\n");
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return -1;
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}
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shmem_info_p->params_val[param] = *param_value;
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byte_changed = param / 8;
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bit_changed = 1 << param % 8;
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shmem_info_p->krait_changed_index[byte_changed] |= bit_changed;
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release_shmem_lock(__FILE__, __LINE__);
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return 0;
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}
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int px4muorb_param_update_index_from_shmem(unsigned char *data, int data_len_in_bytes)
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{
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if (!shmem_info_p) {
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return -1;
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}
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_INFO("Could not get shmem lock\n");
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return -1;
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}
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for (int i = 0; i < data_len_in_bytes; i++) {
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data[i] = shmem_info_p->adsp_changed_index[i];
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}
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release_shmem_lock(__FILE__, __LINE__);
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return 0;
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}
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int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value,
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int data_len_in_bytes)
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{
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unsigned int byte_changed, bit_changed;
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union param_value_u *param_value = (union param_value_u *) value;
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if (!shmem_info_p) {
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return -1;
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}
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if (get_shmem_lock(__FILE__, __LINE__) != 0) {
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PX4_INFO("Could not get shmem lock\n");
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return -1;
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}
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*param_value = shmem_info_p->params_val[param];
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/*also clear the index since we are holding the lock*/
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byte_changed = param / 8;
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bit_changed = 1 << param % 8;
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shmem_info_p->adsp_changed_index[byte_changed] &= ~bit_changed;
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release_shmem_lock(__FILE__, __LINE__);
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return 0;
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}
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int px4muorb_topic_advertised(const char *topic_name)
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{
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int rc = 0;
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PX4_INFO("TEST px4muorb_topic_advertised of [%s] on remote side...", topic_name);
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uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
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uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
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if (rxHandler != nullptr) {
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rc = rxHandler->process_remote_topic(topic_name, 1);
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} else {
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rc = -1;
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}
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return rc;
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}
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int px4muorb_topic_unadvertised(const char *topic_name)
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{
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int rc = 0;
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PX4_INFO("TEST px4muorb_topic_unadvertised of [%s] on remote side...", topic_name);
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uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
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uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
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if (rxHandler != nullptr) {
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rc = rxHandler->process_remote_topic(topic_name, 0);
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} else {
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rc = -1;
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}
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return rc;
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}
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int px4muorb_add_subscriber(const char *name)
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{
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int rc = 0;
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uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
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channel->AddRemoteSubscriber(name);
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uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
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if (rxHandler != nullptr) {
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rc = rxHandler->process_add_subscription(name, 0);
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if (rc != OK) {
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channel->RemoveRemoteSubscriber(name);
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}
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} else {
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rc = -1;
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}
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return rc;
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}
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int px4muorb_remove_subscriber(const char *name)
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{
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int rc = 0;
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uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
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channel->RemoveRemoteSubscriber(name);
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uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
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if (rxHandler != nullptr) {
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rc = rxHandler->process_remove_subscription(name);
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} else {
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rc = -1;
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}
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return rc;
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}
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int px4muorb_send_topic_data(const char *name, const uint8_t *data,
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int data_len_in_bytes)
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{
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int rc = 0;
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uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
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uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
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if (rxHandler != nullptr) {
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rc = rxHandler->process_received_message(name, data_len_in_bytes,
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(uint8_t *) data);
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} else {
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rc = -1;
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}
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return rc;
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}
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int px4muorb_is_subscriber_present(const char *topic_name, int *status)
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{
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int rc = 0;
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int32_t local_status = 0;
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uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
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rc = channel->is_subscriber_present(topic_name, &local_status);
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if (rc == 0) {
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*status = (int) local_status;
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}
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return rc;
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}
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int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
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uint8_t *data, int data_len_in_bytes, int *bytes_returned)
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{
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int rc = 0;
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int32_t local_msg_type = 0;
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int32_t local_bytes_returned = 0;
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uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
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//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
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rc = channel->get_data(&local_msg_type, topic_name, topic_name_len, data,
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data_len_in_bytes, &local_bytes_returned);
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*msg_type = (int) local_msg_type;
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*bytes_returned = (int) local_bytes_returned;
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return rc;
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}
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int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
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int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
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{
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int rc = 0;
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int32_t local_bytes_returned = 0;
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int32_t local_topic_count = 0;
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uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
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//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
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rc = channel->get_bulk_data(bulk_transfer_buffer, max_size_in_bytes,
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&local_bytes_returned, &local_topic_count);
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*returned_length_in_bytes = (int) local_bytes_returned;
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*topic_count = (int) local_topic_count;
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return rc;
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}
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int px4muorb_unblock_recieve_msg(void)
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{
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int rc = 0;
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uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
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rc = channel->unblock_get_data_method();
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return rc;
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}
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