apps/system/uorb: support orb_get_meta by name string

Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>

system/uorb/Makefile

@@ -21,6 +21,7 @@
 include $(APPDIR)/Make.defs
 
 CSRCS    += uORB/uORB.c
+CSRCS    += $(wildcard sensor/*.c)
 
 ifneq ($(CONFIG_UORB_TESTS),)
 CSRCS    += test/utility.c

system/uorb/sensor/topics.c

@@ -0,0 +1,164 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/topics.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <fcntl.h>
+#include <stdio.h>
+#include <sys/ioctl.h>
+
+#include <sensor/accel.h>
+#include <sensor/baro.h>
+#include <sensor/cap.h>
+#include <sensor/co2.h>
+#include <sensor/dust.h>
+#include <sensor/ecg.h>
+#include <sensor/gps.h>
+#include <sensor/gyro.h>
+#include <sensor/gesture.h>
+#include <sensor/hall.h>
+#include <sensor/hbeat.h>
+#include <sensor/hcho.h>
+#include <sensor/hrate.h>
+#include <sensor/humi.h>
+#include <sensor/impd.h>
+#include <sensor/ir.h>
+#include <sensor/light.h>
+#include <sensor/mag.h>
+#include <sensor/noise.h>
+#include <sensor/ots.h>
+#include <sensor/ph.h>
+#include <sensor/pm25.h>
+#include <sensor/pm1p0.h>
+#include <sensor/pm10.h>
+#include <sensor/ppgd.h>
+#include <sensor/ppgq.h>
+#include <sensor/prox.h>
+#include <sensor/rgb.h>
+#include <sensor/temp.h>
+#include <sensor/tvoc.h>
+#include <sensor/uv.h>
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR const struct orb_metadata *g_sensor_list[] =
+{
+  ORB_ID(sensor_accel),
+  ORB_ID(sensor_accel_uncal),
+  ORB_ID(sensor_baro),
+  ORB_ID(sensor_cap),
+  ORB_ID(sensor_co2),
+  ORB_ID(sensor_dust),
+  ORB_ID(sensor_ecg),
+  ORB_ID(sensor_gps),
+  ORB_ID(sensor_gps_satellite),
+  ORB_ID(sensor_gyro),
+  ORB_ID(sensor_gyro_uncal),
+  ORB_ID(sensor_hall),
+  ORB_ID(sensor_hbeat),
+  ORB_ID(sensor_hcho),
+  ORB_ID(sensor_humi),
+  ORB_ID(sensor_hrate),
+  ORB_ID(sensor_impd),
+  ORB_ID(sensor_ir),
+  ORB_ID(sensor_light),
+  ORB_ID(sensor_light_uncal),
+  ORB_ID(sensor_mag),
+  ORB_ID(sensor_mag_uncal),
+  ORB_ID(sensor_noise),
+  ORB_ID(sensor_ots),
+  ORB_ID(sensor_ph),
+  ORB_ID(sensor_pm10),
+  ORB_ID(sensor_pm1p0),
+  ORB_ID(sensor_pm25),
+  ORB_ID(sensor_ppgd),
+  ORB_ID(sensor_ppgq),
+  ORB_ID(sensor_prox),
+  ORB_ID(sensor_rgb),
+  ORB_ID(sensor_temp),
+  ORB_ID(sensor_tvoc),
+  ORB_ID(sensor_uv),
+  ORB_ID(sensor_wake_gesture),
+  ORB_ID(sensor_wake_gesture_uncal),
+  NULL,
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+FAR const struct orb_metadata *orb_get_meta(FAR const char *name)
+{
+  struct sensor_state_s state;
+  char path[PATH_MAX];
+  int idx = -1;
+  int ret;
+  int fd;
+  int i;
+
+  /* Fisrt search built-in topics */
+
+  for (i = 0; g_sensor_list[i]; i++)
+    {
+      if (!strncmp(g_sensor_list[i]->o_name, name,
+          strlen(g_sensor_list[i]->o_name)))
+        {
+          if (idx == -1 || strlen(g_sensor_list[idx]->o_name) <
+                           strlen(g_sensor_list[i]->o_name))
+            {
+              idx = i;
+            }
+        }
+    }
+
+  if (idx != -1)
+    {
+      return g_sensor_list[idx];
+    }
+
+  /* Then open node to get meta */
+
+  snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s", name);
+  fd = open(path, O_RDONLY);
+  if (fd < 0)
+    {
+      snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", name, 0);
+      fd = open(path, O_RDONLY);
+      if (fd < 0)
+        {
+          return NULL;
+        }
+    }
+
+  ret = ioctl(fd, SNIOC_GET_STATE, (unsigned long)(uintptr_t)&state);
+  close(fd);
+  if (ret < 0)
+    {
+      return NULL;
+    }
+
+  return state.priv;
+}

system/uorb/uORB/uORB.h

@@ -638,6 +638,21 @@ int orb_exists(FAR const struct orb_metadata *meta, int instance);
 
 int orb_group_count(FAR const struct orb_metadata *meta);
 
+/****************************************************************************
+ * Name: orb_get_meta
+ *
+ * Description:
+ *   Get the metadata of topic object by name string.
+ *
+ * Input Parameters:
+ *   name       The name of topic, ex: sensor_accel, sensor_accel0.
+ *
+ * Returned Value:
+ *   The metadata on success. NULL on failure.
+ ****************************************************************************/
+
+FAR const struct orb_metadata *orb_get_meta(FAR const char *name);
+
 #ifdef __cplusplus
 }
 #endif