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fb402bc096
The addition of the hrt workqueue required adding some additional files to unittests/CMakeLists.txt Signed-off-by: Mark Charlebois <charlebm@gmail.com>
134 lines
4.0 KiB
C++
134 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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#include "uORBCommunicatorMockLoopback.hpp"
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#include "uORB/uORB.h"
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#include "uORBGtestTopics.hpp"
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#include "uORBManager.hpp"
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#include <string.h>
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#include "px4_log.h"
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#define LOG_TAG "uORBCommunicatorMockLoopback.cpp"
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uORB_test::uORBCommunicatorMockLoopback::uORBCommunicatorMockLoopback()
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: _rx_handler( nullptr )
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{
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//_sub_topicA_clone_fd = orb_subscribe( ORB_ID( topicA_clone ), (void*)&_sub_semaphore );
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//_sub_topicB_clone_fd = orb_subscribe( ORB_ID( topicB_clone ), nullptr );
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_topic_translation_map[ "topicA" ] = "topicA_clone";
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_topic_translation_map[ "topicB" ] = "topicB_clone";
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_topic_translation_map[ "topicA_clone" ] = "topicA";
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_topic_translation_map[ "topicB_clone" ] = "topicB";
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}
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int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription
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(
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const char * messageName,
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int32_t msgRateInHz
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)
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{
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int16_t rc = -1;
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PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName, msgRateInHz );
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if( _rx_handler )
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{
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if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
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{
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rc = _rx_handler->process_add_subscription
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(
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_topic_translation_map[messageName].c_str(),
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msgRateInHz
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);
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}
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}
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return rc;
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}
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int16_t uORB_test::uORBCommunicatorMockLoopback::remove_subscription
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(
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const char * messageName
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)
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{
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int16_t rc = -1;
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PX4_INFO( "got remove_subscription for msg[%s]", messageName );
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if( _rx_handler )
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{
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if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
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{
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rc = _rx_handler->process_remove_subscription
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(
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_topic_translation_map[messageName].c_str()
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);
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}
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}
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return rc;
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}
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int16_t uORB_test::uORBCommunicatorMockLoopback::register_handler
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(
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uORBCommunicator::IChannelRxHandler* handler
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)
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{
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int16_t rc = 0;
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_rx_handler = handler;
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return rc;
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}
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int16_t uORB_test::uORBCommunicatorMockLoopback::send_message
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(
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const char * messageName,
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int32_t length,
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uint8_t* data
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)
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{
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int16_t rc = -1;
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PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName, length );
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if( _rx_handler )
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{
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if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
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{
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if( uORB::Manager::get_instance()->is_remote_subscriber_present( _topic_translation_map[messageName].c_str() ) )
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{
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rc = _rx_handler->process_received_message
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( _topic_translation_map[messageName].c_str(), length, data );
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PX4_INFO( "[uORBCommunicatorMockLoopback::send_message] return from[topic(%s)] _rx_handler->process_received_message[%d]", messageName, rc );
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}
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else
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{
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// this is eqvuilanet of not sending the message to the remote.
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rc = 0;
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}
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}
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}
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return rc;
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}
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