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uORB: Add topic information acquisition and setting interface.

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Signed-off-by: likun17 <likun17@xiaomi.com>
This commit is contained in:
likun17 2024-04-01 19:21:58 +08:00 committed by Xiang Xiao
parent f86baa76fc
commit 9ca75e2977
2 changed files with 44 additions and 1 deletions
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12
system/uorb/uORB/uORB.c
View File

@ -257,6 +257,16 @@ int orb_get_interval(int fd, FAR unsigned *interval)
return ret;
}
int orb_set_info(int fd, FAR const orb_info_t *info)
{
return ioctl(fd, SNIOC_SET_INFO, (unsigned long)(uintptr_t)info);
}
int orb_get_info(int fd, FAR orb_info_t *info)
{
return ioctl(fd, SNIOC_GET_INFO, (unsigned long)(uintptr_t)info);
}
int orb_set_batch_interval(int fd, unsigned batch_interval)
{
return ioctl(fd, SNIOC_BATCH, (unsigned long)batch_interval);
@ -340,7 +350,7 @@ void orb_info(FAR const char *format, FAR const char *name,
vaf.fmt = format;
vaf.va = (va_list *)data;
uorbinfo_raw("%s(now:%" PRIu64 "):%pB", name, orb_absolute_time(), &vaf);
uorbinfo_raw("%s(now:%" PRIu64 "):%pB\n", name, orb_absolute_time(), &vaf);
}
int orb_fprintf(FAR FILE *stream, FAR const char *format,

33
system/uorb/uORB/uORB.h
View File

@ -69,6 +69,7 @@ struct orb_object
};
typedef uint64_t orb_abstime;
typedef struct sensor_device_info_s orb_info_t;
/****************************************************************************
* Pre-processor Definitions
@ -590,6 +591,38 @@ int orb_set_interval(int fd, unsigned interval);
int orb_get_interval(int fd, FAR unsigned *interval);
/****************************************************************************
* Name: orb_set_info
*
* Description:
* Set topic information.
*
* Input Parameters:
* fd A fd returned from orb_subscribe.
* info Data to be transmitted.
*
* Returned Value:
* 0 on success, -1 otherwise with ERRNO set accordingly.
****************************************************************************/
int orb_set_info(int fd, FAR const orb_info_t *info);
/****************************************************************************
* Name: orb_get_info
*
* Description:
* Get topic information.
*
* Input Parameters:
* fd A fd returned from orb_subscribe.
* info The returned topic info.
*
* Returned Value:
* 0 on success, -1 otherwise with ERRNO set accordingly.
****************************************************************************/
int orb_get_info(int fd, FAR orb_info_t *info);
/****************************************************************************
* Name:
* orb_set_frequency