diff options
Diffstat (limited to 'apps/uORB/uORB.cpp')
-rw-r--r-- | apps/uORB/uORB.cpp | 88 |
1 files changed, 58 insertions, 30 deletions
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 |