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system/uorb: support new api

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orb_advertise_multi_queue_persist

Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
This commit is contained in:
Jiuzhu Dong 2022-05-21 18:07:00 +08:00 committed by Alan Carvalho de Assis
parent 37f1e453b1
commit f02c5a5d7e
2 changed files with 68 additions and 22 deletions
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61
system/uorb/uORB/uORB.c
View File

@ -73,6 +73,7 @@ static int orb_advsub_open(FAR const struct orb_metadata *meta, int flags,
reginfo.path = path;
reginfo.esize = meta->o_size;
reginfo.nbuffer = queue_size;
reginfo.persist = !!(flags & SENSOR_PERSIST);
fd = open(ORB_USENSOR_PATH, O_WRONLY);
if (fd < 0)
@ -111,26 +112,10 @@ static int orb_advsub_open(FAR const struct orb_metadata *meta, int flags,
return fd;
}
/****************************************************************************
* Public Functions
****************************************************************************/
int orb_open(FAR const char *name, int instance, int flags)
{
char path[ORB_PATH_MAX];
snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", name, instance);
return open(path, O_CLOEXEC | flags);
}
int orb_close(int fd)
{
return close(fd);
}
int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
FAR const void *data, FAR int *instance,
unsigned int queue_size)
static int
orb_advertise_multi_queue_flags(FAR const struct orb_metadata *meta,
FAR const void *data, FAR int *instance,
unsigned int queue_size, int flags)
{
int inst;
int fd;
@ -139,7 +124,7 @@ int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
inst = instance ? *instance : orb_group_count(meta);
fd = orb_advsub_open(meta, O_WRONLY, inst, queue_size);
fd = orb_advsub_open(meta, flags, inst, queue_size);
if (fd < 0)
{
uorberr("%s advertise failed (%i)", meta->o_name, fd);
@ -165,6 +150,40 @@ int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
return fd;
}
/****************************************************************************
* Public Functions
****************************************************************************/
int orb_open(FAR const char *name, int instance, int flags)
{
char path[ORB_PATH_MAX];
snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", name, instance);
return open(path, O_CLOEXEC | flags);
}
int orb_close(int fd)
{
return close(fd);
}
int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
FAR const void *data, FAR int *instance,
unsigned int queue_size)
{
return orb_advertise_multi_queue_flags(meta, data, instance,
queue_size, O_WRONLY);
}
int orb_advertise_multi_queue_persist(FAR const struct orb_metadata *meta,
FAR const void *data,
FAR int *instance,
unsigned int queue_size)
{
return orb_advertise_multi_queue_flags(meta, data, instance, queue_size,
O_WRONLY | SENSOR_PERSIST);
}
ssize_t orb_publish_multi(int fd, const void *data, size_t len)
{
return write(fd, data, len);

29
system/uorb/uORB/uORB.h
View File

@ -256,6 +256,33 @@ static inline int orb_advertise_multi(FAR const struct orb_metadata *meta,
return orb_advertise_multi_queue(meta, data, instance, 1);
}
/****************************************************************************
* Name: orb_advertise_multi_queue_persist
*
* Description:
* orb_advertise_multi_queue_persist is similar to orb_advertise_mult and
* it can ensures that every subscriber has access to current and
* future data.
*
* Input Parameters:
* meta The uORB metadata (usually from the ORB_ID() macro)
* data A pointer to the initial data to be published.
* instance Pointer to an integer which yield the instance ID,
* (has default 0 if pointer is NULL).
*
* Returned Value:
* -1 on error, otherwise returns an file descriptor
* that can be used to publish to the topic.
* If the topic in question is not known (due to an
* ORB_DEFINE with no corresponding ORB_DECLARE)
* this function will return -1 and set errno to ENOENT.
****************************************************************************/
int orb_advertise_multi_queue_persist(FAR const struct orb_metadata *meta,
FAR const void *data,
FAR int *instance,
unsigned int queue_size);
/****************************************************************************
* Name: orb_unadvertise
*
@ -316,7 +343,7 @@ static inline int orb_publish_auto(FAR const struct orb_metadata *meta,
{
int tmp;
tmp = orb_advertise_multi(meta, data, instance);
tmp = orb_advertise_multi_queue_persist(meta, data, instance, 1);
if (tmp < 0)
{
return tmp;