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-rw-r--r--apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c2
-rw-r--r--apps/commander/commander.c2
-rw-r--r--apps/drivers/drv_orb_dev.h3
-rw-r--r--apps/drivers/hmc5883/hmc5883.cpp2
-rw-r--r--apps/drivers/mpu6000/mpu6000.cpp4
-rw-r--r--apps/drivers/ms5611/ms5611.cpp2
-rw-r--r--apps/examples/px4_simple_app/px4_simple_app.c4
-rw-r--r--apps/fixedwing_control/fixedwing_control.c2
-rw-r--r--apps/gps/mtk.c2
-rw-r--r--apps/gps/nmea_helper.c2
-rw-r--r--apps/gps/ubx.c2
-rw-r--r--apps/mavlink/mavlink.c14
-rw-r--r--apps/multirotor_att_control/multirotor_att_control_main.c4
-rw-r--r--apps/multirotor_pos_control/multirotor_pos_control.c2
-rw-r--r--apps/position_estimator/position_estimator_main.c2
-rw-r--r--apps/px4/attitude_estimator_bm/attitude_estimator_bm.c2
-rw-r--r--apps/px4/fmu/fmu.cpp6
-rw-r--r--apps/px4/px4io/driver/px4io.cpp2
-rw-r--r--apps/sensors/sensors.c9
-rw-r--r--apps/uORB/uORB.cpp88
-rw-r--r--apps/uORB/uORB.h21
21 files changed, 110 insertions, 67 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index fdf6c9d91..09cbdd4e9 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -138,7 +138,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
/* subscribe to raw data */
int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
/* advertise attitude */
- int pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
+ orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
int loopcounter = 0;
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 149a662fd..55d3b82e7 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -96,7 +96,7 @@ static int buzzer;
static int mavlink_fd;
static bool commander_initialized = false;
static struct vehicle_status_s current_status; /**< Main state machine */
-static int stat_pub;
+static orb_advert_t stat_pub;
static uint16_t nofix_counter = 0;
static uint16_t gotfix_counter = 0;
diff --git a/apps/drivers/drv_orb_dev.h b/apps/drivers/drv_orb_dev.h
index b3fc01a5f..50288f690 100644
--- a/apps/drivers/drv_orb_dev.h
+++ b/apps/drivers/drv_orb_dev.h
@@ -81,4 +81,7 @@
/** Set the minimum interval at which the topic can be seen to be updated for this subscription */
#define ORBIOCSETINTERVAL _ORBIOC(12)
+/** Get the global advertiser handle for the topic */
+#define ORBIOCGADVERTISER _ORBIOC(13)
+
#endif /* _DRV_UORB_H */
diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/apps/drivers/hmc5883/hmc5883.cpp
index a98b30efc..0fa1f365d 100644
--- a/apps/drivers/hmc5883/hmc5883.cpp
+++ b/apps/drivers/hmc5883/hmc5883.cpp
@@ -147,7 +147,7 @@ private:
mag_scale _scale;
bool _collect_phase;
- int _mag_topic;
+ orb_advert_t _mag_topic;
unsigned _reads;
unsigned _measure_errors;
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp
index 7576fc1d9..951e1a062 100644
--- a/apps/drivers/mpu6000/mpu6000.cpp
+++ b/apps/drivers/mpu6000/mpu6000.cpp
@@ -181,12 +181,12 @@ private:
struct accel_report _accel_report;
struct accel_scale _accel_scale;
float _accel_range_scale;
- int _accel_topic;
+ orb_advert_t _accel_topic;
struct gyro_report _gyro_report;
struct gyro_scale _gyro_scale;
float _gyro_range_scale;
- int _gyro_topic;
+ orb_advert_t _gyro_topic;
unsigned _reads;
perf_counter_t _sample_perf;
diff --git a/apps/drivers/ms5611/ms5611.cpp b/apps/drivers/ms5611/ms5611.cpp
index ee366f668..8f8f96217 100644
--- a/apps/drivers/ms5611/ms5611.cpp
+++ b/apps/drivers/ms5611/ms5611.cpp
@@ -125,7 +125,7 @@ private:
int32_t _dT;
int64_t _temp64;
- int _baro_topic;
+ orb_advert_t _baro_topic;
unsigned _reads;
unsigned _measure_errors;
diff --git a/apps/examples/px4_simple_app/px4_simple_app.c b/apps/examples/px4_simple_app/px4_simple_app.c
index fd34a5dac..7f655964d 100644
--- a/apps/examples/px4_simple_app/px4_simple_app.c
+++ b/apps/examples/px4_simple_app/px4_simple_app.c
@@ -59,7 +59,7 @@ int px4_simple_app_main(int argc, char *argv[])
/* advertise attitude topic */
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
- int att_pub_fd = orb_advertise(ORB_ID(vehicle_attitude), &att);
+ orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
/* one could wait for multiple topics with this technique, just using one here */
struct pollfd fds[] = {
@@ -103,7 +103,7 @@ int px4_simple_app_main(int argc, char *argv[])
att.roll = raw.accelerometer_m_s2[0];
att.pitch = raw.accelerometer_m_s2[1];
att.yaw = raw.accelerometer_m_s2[2];
- orb_publish(ORB_ID(vehicle_attitude), att_pub_fd, &att);
+ orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
}
/* there could be more file descriptors here, in the form like:
* if (fds[1..n].revents & POLLIN) {}
diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c
index bad62edcf..7ea4101ab 100644
--- a/apps/fixedwing_control/fixedwing_control.c
+++ b/apps/fixedwing_control/fixedwing_control.c
@@ -675,7 +675,7 @@ int fixedwing_control_main(int argc, char *argv[])
/* Set up to publish fixed wing control messages */
struct fixedwing_control_s control;
- int fixedwing_control_pub = orb_advertise(ORB_ID(fixedwing_control), &control);
+ orb_advert_t fixedwing_control_pub = orb_advertise(ORB_ID(fixedwing_control), &control);
/* Subscribe to global position, attitude and rc */
struct vehicle_global_position_s global_pos;
diff --git a/apps/gps/mtk.c b/apps/gps/mtk.c
index cef70601b..0333c7100 100644
--- a/apps/gps/mtk.c
+++ b/apps/gps/mtk.c
@@ -311,7 +311,7 @@ void *mtk_loop(void *arg)
/* advertise GPS topic */
struct vehicle_gps_position_s mtk_gps_d;
mtk_gps = &mtk_gps_d;
- int gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), &mtk_gps);
+ orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), &mtk_gps);
while (1) {
/* Parse a message from the gps receiver */
diff --git a/apps/gps/nmea_helper.c b/apps/gps/nmea_helper.c
index 4b520d403..54912b6d3 100644
--- a/apps/gps/nmea_helper.c
+++ b/apps/gps/nmea_helper.c
@@ -176,7 +176,7 @@ void *nmea_loop(void *arg)
/* advertise GPS topic */
struct vehicle_gps_position_s nmea_gps_d = {0};
nmea_gps = &nmea_gps_d;
- int gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
+ orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
while (1) {
/* Parse a message from the gps receiver */
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c
index 771dfbd6c..a629e904d 100644
--- a/apps/gps/ubx.c
+++ b/apps/gps/ubx.c
@@ -842,7 +842,7 @@ void *ubx_loop(void *arg)
ubx_gps = &ubx_gps_d;
- int gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps);
+ orb_advert_t gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &ubx_gps);
while (1) {
/* Parse a message from the gps receiver */
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 7fba65cb7..97822510c 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -113,7 +113,7 @@ static struct vehicle_status_s v_status;
static struct rc_channels_s rc;
/* HIL publishers */
-static int pub_hil_attitude = -1;
+static orb_advert_t pub_hil_attitude = -1;
/** HIL attitude */
static struct vehicle_attitude_s hil_attitude;
@@ -126,16 +126,16 @@ static struct ardrone_motors_setpoint_s ardrone_motors;
static struct vehicle_command_s vcmd;
-static int pub_hil_global_pos = -1;
-static int ardrone_motors_pub = -1;
-static int cmd_pub = -1;
+static orb_advert_t pub_hil_global_pos = -1;
+static orb_advert_t ardrone_motors_pub = -1;
+static orb_advert_t cmd_pub = -1;
static int sensor_sub = -1;
static int att_sub = -1;
static int global_pos_sub = -1;
static int local_pos_sub = -1;
-static int flow_pub = -1;
-static int global_position_setpoint_pub = -1;
-static int local_position_setpoint_pub = -1;
+static orb_advert_t flow_pub = -1;
+static orb_advert_t global_position_setpoint_pub = -1;
+static orb_advert_t local_position_setpoint_pub = -1;
static bool mavlink_hil_enabled = false;
static char mavlink_message_string[51] = {0};
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index baee507b2..df08ca75f 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -119,9 +119,9 @@ mc_thread_main(int argc, char *argv[])
/* publish actuator controls */
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
actuators.control[i] = 0.0f;
- int actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
+ orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
armed.armed = true;
- int armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
+ orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
/* register the perf counter */
perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "multirotor_att_control");
diff --git a/apps/multirotor_pos_control/multirotor_pos_control.c b/apps/multirotor_pos_control/multirotor_pos_control.c
index ff32fb460..3f9c72517 100644
--- a/apps/multirotor_pos_control/multirotor_pos_control.c
+++ b/apps/multirotor_pos_control/multirotor_pos_control.c
@@ -89,7 +89,7 @@ mpc_thread_main(int argc, char *argv[])
int local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
/* publish attitude setpoint */
- int att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
+ orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
while (1) {
/* get a local copy of the vehicle state */
diff --git a/apps/position_estimator/position_estimator_main.c b/apps/position_estimator/position_estimator_main.c
index 773cd87ff..17482dc0a 100644
--- a/apps/position_estimator/position_estimator_main.c
+++ b/apps/position_estimator/position_estimator_main.c
@@ -297,7 +297,7 @@ int position_estimator_main(int argc, char *argv[])
.lon = lon_current * 1e7,
.alt = gps.alt
};
- int global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
+ orb_advert_t global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
printf("[multirotor position estimator] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current);
diff --git a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
index e56ff1c3a..fd3ed1137 100644
--- a/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
+++ b/apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
@@ -154,7 +154,7 @@ int attitude_estimator_bm_main(int argc, char *argv[])
bool publishing = false;
/* advertise attitude */
- int pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
+ orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
publishing = true;
struct pollfd fds[] = {
diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index 83bc62509..3016cb01e 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -89,7 +89,7 @@ private:
int _task;
int _t_actuators;
int _t_armed;
- int _t_outputs;
+ orb_advert_t _t_outputs;
unsigned _num_outputs;
volatile bool _task_should_exit;
@@ -566,15 +566,13 @@ fake(int argc, char *argv[])
ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
- int handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
+ orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
if (handle < 0) {
puts("advertise failed");
exit(1);
}
- close(handle);
-
exit(0);
}
diff --git a/apps/px4/px4io/driver/px4io.cpp b/apps/px4/px4io/driver/px4io.cpp
index a5def874d..c3371c138 100644
--- a/apps/px4/px4io/driver/px4io.cpp
+++ b/apps/px4/px4io/driver/px4io.cpp
@@ -99,7 +99,7 @@ protected:
void set_channels(unsigned count, const servo_position_t *data);
private:
- int _publication;
+ orb_advert_t _publication;
struct rc_input_values _input;
};
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c
index ef8ff798f..891167d1c 100644
--- a/apps/sensors/sensors.c
+++ b/apps/sensors/sensors.c
@@ -124,8 +124,8 @@ extern unsigned ppm_decoded_channels;
extern uint64_t ppm_last_valid_decode;
#endif
-/* file handle that will be used for subscribing */
-static int sensor_pub;
+/* ORB topic publishing our results */
+static orb_advert_t sensor_pub;
/**
* Sensor readout and publishing.
@@ -404,7 +404,7 @@ int sensors_thread_main(int argc, char *argv[])
.yaw = 0.0f,
.throttle = 0.0f };
- int manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
+ orb_advert_t manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
if (manual_control_pub < 0) {
fprintf(stderr, "[sensors] ERROR: orb_advertise for topic manual_control_setpoint failed.\n");
@@ -413,7 +413,7 @@ int sensors_thread_main(int argc, char *argv[])
/* advertise the rc topic */
struct rc_channels_s rc;
memset(&rc, 0, sizeof(rc));
- int rc_pub = orb_advertise(ORB_ID(rc_channels), &rc);
+ orb_advert_t rc_pub = orb_advertise(ORB_ID(rc_channels), &rc);
if (rc_pub < 0) {
fprintf(stderr, "[sensors] ERROR: orb_advertise for topic rc_channels failed.\n");
@@ -466,7 +466,6 @@ int sensors_thread_main(int argc, char *argv[])
if (vstatus.flag_hil_enabled && !hil_enabled) {
hil_enabled = true;
publishing = false;
- int ret = close(sensor_pub);
printf("[sensors] Closing sensor pub: %i \n", ret);
/* switching from HIL to non-HIL mode */
diff --git a/apps/uORB/uORB.cpp b/apps/uORB/uORB.cpp
index 1e7cdc8db..c4434e4ed 100644
--- a/apps/uORB/uORB.cpp
+++ b/apps/uORB/uORB.cpp
@@ -112,6 +112,8 @@ public:
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
+ static ssize_t publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
+
protected:
virtual pollevent_t poll_state(struct file *filp);
virtual void poll_notify_one(struct pollfd *fds, pollevent_t events);
@@ -298,6 +300,8 @@ ORBDevNode::write(struct file *filp, const char *buffer, size_t buflen)
*
* Writes outside interrupt context will allocate the object
* if it has not yet been allocated.
+ *
+ * Note that filp will usually be NULL.
*/
if (nullptr == _data) {
if (!up_interrupt_context()) {
@@ -353,12 +357,42 @@ ORBDevNode::ioctl(struct file *filp, int cmd, unsigned long arg)
sd->update_interval = arg;
return OK;
+ case ORBIOCGADVERTISER:
+ *(uintptr_t *)arg = (uintptr_t)this;
+ return OK;
+
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
+ssize_t
+ORBDevNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *data)
+{
+ ORBDevNode *devnode = (ORBDevNode *)handle;
+ int ret;
+
+ /* this is a bit risky, since we are trusting the handle in order to deref it */
+ if (devnode->_meta != meta) {
+ errno = EINVAL;
+ return ERROR;
+ }
+
+ /* call the devnode write method with no file pointer */
+ ret = devnode->write(nullptr, (const char *)data, meta->o_size);
+
+ if (ret < 0)
+ return ERROR;
+
+ if (ret != (int)meta->o_size) {
+ errno = EIO;
+ return ERROR;
+ }
+
+ return OK;
+}
+
pollevent_t
ORBDevNode::poll_state(struct file *filp)
{
@@ -614,7 +648,7 @@ test()
if (pfd < 0)
return test_fail("advertise failed: %d", errno);
- test_note("publish fd %d", pfd);
+ test_note("publish handle 0x%08x", pfd);
sfd = orb_subscribe(ORB_ID(orb_test));
if (sfd < 0)
@@ -877,29 +911,35 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve
return ERROR;
}
- /* the advertiser must perform an initial publish to initialise the object */
- if (advertiser) {
- ret = orb_publish(meta, fd, data);
-
- if (ret != OK) {
- /* save errno across the close */
- ret = errno;
- close(fd);
- errno = ret;
- return ERROR;
- }
- }
-
/* everything has been OK, we can return the handle now */
return fd;
}
} // namespace
-int
+orb_advert_t
orb_advertise(const struct orb_metadata *meta, const void *data)
{
- return node_open(PUBSUB, meta, data, true);
+ int result, fd;
+ orb_advert_t advertiser;
+
+ /* open the node as an advertiser */
+ fd = node_open(PUBSUB, meta, data, true);
+ if (fd == ERROR)
+ return ERROR;
+
+ /* get the advertiser handle and close the node */
+ result = ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+ close(fd);
+ if (result == ERROR)
+ return ERROR;
+
+ /* the advertiser must perform an initial publish to initialise the object */
+ result= orb_publish(meta, advertiser, data);
+ if (result == ERROR)
+ return ERROR;
+
+ return advertiser;
}
int
@@ -915,21 +955,9 @@ orb_unsubscribe(int handle)
}
int
-orb_publish(const struct orb_metadata *meta, int handle, const void *data)
+orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
{
- int ret;
-
- ret = write(handle, data, meta->o_size);
-
- if (ret < 0)
- return ERROR;
-
- if (ret != (int)meta->o_size) {
- errno = EIO;
- return ERROR;
- }
-
- return OK;
+ return ORBDevNode::publish(meta, handle, data);
}
int
diff --git a/apps/uORB/uORB.h b/apps/uORB/uORB.h
index c36d0044f..eb068d2b7 100644
--- a/apps/uORB/uORB.h
+++ b/apps/uORB/uORB.h
@@ -106,11 +106,26 @@ struct orb_metadata {
__BEGIN_DECLS
/**
+ * ORB topic advertiser handle.
+ *
+ * Advertiser handles are global; once obtained they can be shared freely
+ * and do not need to be closed or released.
+ *
+ * This permits publication from interrupt context and other contexts where
+ * a file-descriptor-based handle would not otherwise be in scope for the
+ * publisher.
+ */
+typedef intptr_t orb_advert_t;
+
+/**
* Advertise as the publisher of a topic.
*
* This performs the initial advertisement of a topic; it creates the topic
* node in /obj if required and publishes the initial data.
*
+ * Any number of advertisers may publish to a topic; publications are atomic
+ * but co-ordination between publishers is not provided by the ORB.
+ *
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
* @param data A pointer to the initial data to be published.
@@ -122,7 +137,7 @@ __BEGIN_DECLS
* ORB_DEFINE with no corresponding ORB_DECLARE)
* this function will return -1 and set errno to ENOENT.
*/
-extern int orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
+extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
/**
* Publish new data to a topic.
@@ -131,13 +146,13 @@ extern int orb_advertise(const struct orb_metadata *meta, const void *data) __EX
* will be notified. Subscribers that are not waiting can check the topic
* for updates using orb_check and/or orb_stat.
*
- * @handle The handle returned from orb_advertise.
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
+ * @handle The handle returned from orb_advertise.
* @param data A pointer to the data to be published.
* @return OK on success, ERROR otherwise with errno set accordingly.
*/
-extern int orb_publish(const struct orb_metadata *meta, int handle, const void *data) __EXPORT;
+extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
/**
* Subscribe to a topic.
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-05 21:47:10 +0000