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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-21 10:47:36 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-21 10:47:36 +0100 |
commit | 193397b2289b75873cd14597fbbbaa7df14aaee8 (patch) | |
tree | 33b48c492e59f9bbdf2eaf5c881c433f9ad0386d /src/modules/uORB | |
parent | 2988136e7eaa1f55c41376b74b58766af9f8fcb9 (diff) | |
parent | 057bcf3172f3c8d1bab561e7e4cad14977cd74d0 (diff) | |
download | px4-firmware-193397b2289b75873cd14597fbbbaa7df14aaee8.tar.gz px4-firmware-193397b2289b75873cd14597fbbbaa7df14aaee8.tar.bz2 px4-firmware-193397b2289b75873cd14597fbbbaa7df14aaee8.zip |
Merge branch 'master' of github.com:PX4/Firmware into beta_mavlink2
Diffstat (limited to 'src/modules/uORB')
-rw-r--r-- | src/modules/uORB/Publication.cpp | 80 | ||||
-rw-r--r-- | src/modules/uORB/Publication.hpp | 111 | ||||
-rw-r--r-- | src/modules/uORB/Subscription.cpp | 103 | ||||
-rw-r--r-- | src/modules/uORB/Subscription.hpp | 128 | ||||
-rw-r--r-- | src/modules/uORB/module.mk | 4 | ||||
-rw-r--r-- | src/modules/uORB/objects_common.cpp | 3 | ||||
-rw-r--r-- | src/modules/uORB/topics/encoders.h | 66 |
7 files changed, 494 insertions, 1 deletions
diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp new file mode 100644 index 000000000..5a5981617 --- /dev/null +++ b/src/modules/uORB/Publication.cpp @@ -0,0 +1,80 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Publication.cpp + * + */ + +#include "Publication.hpp" +#include "topics/vehicle_attitude.h" +#include "topics/vehicle_local_position.h" +#include "topics/vehicle_global_position.h" +#include "topics/debug_key_value.h" +#include "topics/actuator_controls.h" +#include "topics/vehicle_global_velocity_setpoint.h" +#include "topics/vehicle_attitude_setpoint.h" +#include "topics/vehicle_rates_setpoint.h" +#include "topics/actuator_outputs.h" +#include "topics/encoders.h" + +namespace uORB { + +template<class T> +Publication<T>::Publication( + List<PublicationBase *> * list, + const struct orb_metadata *meta) : + T(), // initialize data structure to zero + PublicationBase(list, meta) { +} + +template<class T> +Publication<T>::~Publication() {} + +template<class T> +void * Publication<T>::getDataVoidPtr() { + return (void *)(T *)(this); +} + +template class __EXPORT Publication<vehicle_attitude_s>; +template class __EXPORT Publication<vehicle_local_position_s>; +template class __EXPORT Publication<vehicle_global_position_s>; +template class __EXPORT Publication<debug_key_value_s>; +template class __EXPORT Publication<actuator_controls_s>; +template class __EXPORT Publication<vehicle_global_velocity_setpoint_s>; +template class __EXPORT Publication<vehicle_attitude_setpoint_s>; +template class __EXPORT Publication<vehicle_rates_setpoint_s>; +template class __EXPORT Publication<actuator_outputs_s>; +template class __EXPORT Publication<encoders_s>; + +} diff --git a/src/modules/uORB/Publication.hpp b/src/modules/uORB/Publication.hpp new file mode 100644 index 000000000..8650b3df8 --- /dev/null +++ b/src/modules/uORB/Publication.hpp @@ -0,0 +1,111 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Publication.h + * + */ + +#pragma once + +#include <uORB/uORB.h> +#include <containers/List.hpp> + + +namespace uORB +{ + +/** + * Base publication warapper class, used in list traversal + * of various publications. + */ +class __EXPORT PublicationBase : public ListNode<uORB::PublicationBase *> +{ +public: + + PublicationBase( + List<PublicationBase *> * list, + const struct orb_metadata *meta) : + _meta(meta), + _handle(-1) { + if (list != NULL) list->add(this); + } + void update() { + if (_handle > 0) { + orb_publish(getMeta(), getHandle(), getDataVoidPtr()); + } else { + setHandle(orb_advertise(getMeta(), getDataVoidPtr())); + } + } + virtual void *getDataVoidPtr() = 0; + virtual ~PublicationBase() { + orb_unsubscribe(getHandle()); + } + const struct orb_metadata *getMeta() { return _meta; } + int getHandle() { return _handle; } +protected: + void setHandle(orb_advert_t handle) { _handle = handle; } + const struct orb_metadata *_meta; + orb_advert_t _handle; +}; + +/** + * Publication wrapper class + */ +template<class T> +class Publication : + public T, // this must be first! + public PublicationBase +{ +public: + /** + * Constructor + * + * @param list A list interface for adding to list during construction + * @param meta The uORB metadata (usually from the ORB_ID() macro) + * for the topic. + */ + Publication(List<PublicationBase *> * list, + const struct orb_metadata *meta); + virtual ~Publication(); + /* + * XXX + * This function gets the T struct, assuming + * the struct is the first base class, this + * should use dynamic cast, but doesn't + * seem to be available + */ + void *getDataVoidPtr(); +}; + +} // namespace uORB diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp new file mode 100644 index 000000000..c1d1a938f --- /dev/null +++ b/src/modules/uORB/Subscription.cpp @@ -0,0 +1,103 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Subscription.cpp + * + */ + +#include "Subscription.hpp" +#include "topics/parameter_update.h" +#include "topics/actuator_controls.h" +#include "topics/vehicle_gps_position.h" +#include "topics/sensor_combined.h" +#include "topics/vehicle_attitude.h" +#include "topics/vehicle_global_position.h" +#include "topics/encoders.h" +#include "topics/position_setpoint_triplet.h" +#include "topics/vehicle_status.h" +#include "topics/manual_control_setpoint.h" +#include "topics/vehicle_local_position_setpoint.h" +#include "topics/vehicle_local_position.h" +#include "topics/vehicle_attitude_setpoint.h" +#include "topics/vehicle_rates_setpoint.h" + +namespace uORB +{ + +bool __EXPORT SubscriptionBase::updated() +{ + bool isUpdated = false; + orb_check(_handle, &isUpdated); + return isUpdated; +} + +template<class T> +Subscription<T>::Subscription( + List<SubscriptionBase *> * list, + const struct orb_metadata *meta, unsigned interval) : + T(), // initialize data structure to zero + SubscriptionBase(list, meta) { + setHandle(orb_subscribe(getMeta())); + orb_set_interval(getHandle(), interval); +} + +template<class T> +Subscription<T>::~Subscription() {} + +template<class T> +void * Subscription<T>::getDataVoidPtr() { + return (void *)(T *)(this); +} + +template<class T> +T Subscription<T>::getData() { + return T(*this); +} + +template class __EXPORT Subscription<parameter_update_s>; +template class __EXPORT Subscription<actuator_controls_s>; +template class __EXPORT Subscription<vehicle_gps_position_s>; +template class __EXPORT Subscription<sensor_combined_s>; +template class __EXPORT Subscription<vehicle_attitude_s>; +template class __EXPORT Subscription<vehicle_global_position_s>; +template class __EXPORT Subscription<encoders_s>; +template class __EXPORT Subscription<position_setpoint_triplet_s>; +template class __EXPORT Subscription<vehicle_status_s>; +template class __EXPORT Subscription<manual_control_setpoint_s>; +template class __EXPORT Subscription<vehicle_local_position_setpoint_s>; +template class __EXPORT Subscription<vehicle_local_position_s>; +template class __EXPORT Subscription<vehicle_attitude_setpoint_s>; +template class __EXPORT Subscription<vehicle_rates_setpoint_s>; + +} // namespace uORB diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp new file mode 100644 index 000000000..34e9a83e0 --- /dev/null +++ b/src/modules/uORB/Subscription.hpp @@ -0,0 +1,128 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Subscription.h + * + */ + +#pragma once + +#include <uORB/uORB.h> +#include <containers/List.hpp> + + +namespace uORB +{ + +/** + * Base subscription warapper class, used in list traversal + * of various subscriptions. + */ +class __EXPORT SubscriptionBase : + public ListNode<SubscriptionBase *> +{ +public: +// methods + + /** + * Constructor + * + * @param meta The uORB metadata (usually from the ORB_ID() macro) + * for the topic. + */ + SubscriptionBase( + List<SubscriptionBase *> * list, + const struct orb_metadata *meta) : + _meta(meta), + _handle() { + if (list != NULL) list->add(this); + } + bool updated(); + void update() { + if (updated()) { + orb_copy(_meta, _handle, getDataVoidPtr()); + } + } + virtual void *getDataVoidPtr() = 0; + virtual ~SubscriptionBase() { + orb_unsubscribe(_handle); + } +// accessors + const struct orb_metadata *getMeta() { return _meta; } + int getHandle() { return _handle; } +protected: +// accessors + void setHandle(int handle) { _handle = handle; } +// attributes + const struct orb_metadata *_meta; + int _handle; +}; + +/** + * Subscription wrapper class + */ +template<class T> +class __EXPORT Subscription : + public T, // this must be first! + public SubscriptionBase +{ +public: + /** + * Constructor + * + * @param list A list interface for adding to list during construction + * @param meta The uORB metadata (usually from the ORB_ID() macro) + * for the topic. + * @param interval The minimum interval in milliseconds between updates + */ + Subscription( + List<SubscriptionBase *> * list, + const struct orb_metadata *meta, unsigned interval); + /** + * Deconstructor + */ + virtual ~Subscription(); + + /* + * XXX + * This function gets the T struct, assuming + * the struct is the first base class, this + * should use dynamic cast, but doesn't + * seem to be available + */ + void *getDataVoidPtr(); + T getData(); +}; + +} // namespace uORB diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk index 5ec31ab01..0c29101fe 100644 --- a/src/modules/uORB/module.mk +++ b/src/modules/uORB/module.mk @@ -41,4 +41,6 @@ MODULE_COMMAND = uorb MODULE_STACKSIZE = 4096 SRCS = uORB.cpp \ - objects_common.cpp + objects_common.cpp \ + Publication.cpp \ + Subscription.cpp diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 4c84c1f25..fb24de8d1 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -190,3 +190,6 @@ ORB_DEFINE(navigation_capabilities, struct navigation_capabilities_s); #include "topics/esc_status.h" ORB_DEFINE(esc_status, struct esc_status_s); + +#include "topics/encoders.h" +ORB_DEFINE(encoders, struct encoders_s); diff --git a/src/modules/uORB/topics/encoders.h b/src/modules/uORB/topics/encoders.h new file mode 100644 index 000000000..588c0ddb1 --- /dev/null +++ b/src/modules/uORB/topics/encoders.h @@ -0,0 +1,66 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file encoders.h + * + * Encoders topic. + * + */ + +#ifndef TOPIC_ENCODERS_H +#define TOPIC_ENCODERS_H + +#include <stdint.h> +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +#define NUM_ENCODERS 4 + +struct encoders_s { + uint64_t timestamp; + int64_t counts[NUM_ENCODERS]; // counts of encoder + float velocity[NUM_ENCODERS]; // counts of encoder/ second +}; + +/** + * @} + */ + +ORB_DECLARE(encoders); + +#endif |