uORB add ORB_COMMUNICATOR define to enable remote uORB

cmake/configs/posix_eagle_hil.cmake

@@ -17,6 +17,8 @@ else()
 	set(QC_SOC_TARGET "APQ8074")
 endif()
 
+add_definitions(-DORB_COMMUNICATOR)
+
 set(config_module_list
 	drivers/linux_sbus
 

cmake/configs/posix_eagle_muorb.cmake

@@ -4,6 +4,7 @@ set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolcha
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+add_definitions(-DORB_COMMUNICATOR)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})

cmake/configs/posix_sdflight_default.cmake

@@ -28,6 +28,7 @@ else()
 endif()
 
 set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
 
 set(config_module_list
 	drivers/blinkm

cmake/configs/posix_sdflight_legacy.cmake

@@ -19,7 +19,7 @@ else()
 endif()
 
 set(CONFIG_SHMEM "1")
-
+add_definitions(-DORB_COMMUNICATOR)
 
 set(config_module_list
 	drivers/blinkm

cmake/configs/posix_sitl_default.cmake

@@ -55,7 +55,6 @@ set(config_module_list
 
 	platforms/posix/tests/hello
 	platforms/posix/tests/hrt_test
-	platforms/posix/tests/muorb
 	platforms/posix/tests/vcdev_test
 
 	#

cmake/configs/qurt_eagle_hil.cmake

@@ -6,6 +6,7 @@ else()
 endif()
 
 set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+add_definitions(-DORB_COMMUNICATOR)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})

cmake/configs/qurt_eagle_muorb.cmake

@@ -6,6 +6,7 @@ else()
 endif()
 
 set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+add_definitions(-DORB_COMMUNICATOR)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})

cmake/configs/qurt_eagle_travis.cmake

@@ -11,6 +11,7 @@ else()
 endif()
 
 set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+add_definitions(-DORB_COMMUNICATOR)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})

cmake/configs/qurt_sdflight_default.cmake

@@ -9,6 +9,7 @@ else()
 endif()
 
 set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})

cmake/configs/qurt_sdflight_legacy.cmake

@@ -9,6 +9,7 @@ else()
 endif()
 
 set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})

platforms/posix/cmake/sitl_tests.cmake

@@ -67,7 +67,6 @@ endforeach()
 set(test_cmds
 	hello
 	hrt_test
-	muorb_test
 	vcdev_test
 	wqueue_test
 	)

src/modules/uORB/uORBDevices.cpp

@@ -63,7 +63,11 @@
 #include "uORBDevices.hpp"
 #include "uORBUtils.hpp"
 #include "uORBManager.hpp"
+
+#ifdef ORB_COMMUNICATOR
 #include "uORBCommunicator.hpp"
+#endif /* ORB_COMMUNICATOR */
+
 #include <px4_sem.hpp>
 #include <stdlib.h>
 
@@ -85,14 +89,8 @@ uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name,
 			     int priority, unsigned int queue_size) :
 	CDev(name, path),
 	_meta(meta),
-	_data(nullptr),
-	_last_update(0),
-	_generation(0),
 	_priority((uint8_t)priority),
-	_published(false),
+	_queue_size(queue_size)
-	_queue_size(queue_size),
-	_subscriber_count(0),
-	_publisher(0)
 {
 }
 
@@ -163,7 +161,9 @@ uORB::DeviceNode::open(device::file_t *filp)
 
 		ret = CDev::open(filp);
 
+#ifdef ORB_COMMUNICATOR
 		add_internal_subscriber();
+#endif /* ORB_COMMUNICATOR */
 
 		if (ret != PX4_OK) {
 			PX4_ERR("CDev::open failed");
@@ -196,7 +196,10 @@ uORB::DeviceNode::close(device::file_t *filp)
 				hrt_cancel(&sd->update_interval->update_call);
 			}
 
+#ifdef ORB_COMMUNICATOR
 			remove_internal_subscriber();
+#endif /* ORB_COMMUNICATOR */
+
 			delete sd;
 			sd = nullptr;
 		}
@@ -454,6 +457,7 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
 		return PX4_ERROR;
 	}
 
+#ifdef ORB_COMMUNICATOR
 	/*
 	 * if the write is successful, send the data over the Multi-ORB link
 	 */
@@ -466,6 +470,8 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
 		}
 	}
 
+#endif /* ORB_COMMUNICATOR */
+
 	return PX4_OK;
 }
 
@@ -493,6 +499,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
 	return PX4_OK;
 }
 
+#ifdef ORB_COMMUNICATOR
 int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, int priority)
 {
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
@@ -503,6 +510,7 @@ int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, int priorit
 
 	return -1;
 }
+
 /*
 //TODO: Check if we need this since we only unadvertise when things all shutdown and it doesn't actually remove the device
 int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, int priority)
@@ -514,6 +522,7 @@ int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, int prior
 	return -1;
 }
 */
+#endif /* ORB_COMMUNICATOR */
 
 pollevent_t
 uORB::DeviceNode::poll_state(device::file_t *filp)
@@ -728,8 +737,7 @@ uORB::DeviceNode::print_statistics(bool reset)
 	return true;
 }
 
-//-----------------------------------------------------------------------------
+#ifdef ORB_COMMUNICATOR
-//-----------------------------------------------------------------------------
 void uORB::DeviceNode::add_internal_subscriber()
 {
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
@@ -746,8 +754,6 @@ void uORB::DeviceNode::add_internal_subscriber()
 	}
 }
 
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
 void uORB::DeviceNode::remove_internal_subscriber()
 {
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
@@ -764,31 +770,6 @@ void uORB::DeviceNode::remove_internal_subscriber()
 	}
 }
 
-
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
-bool uORB::DeviceNode::is_published()
-{
-	return _published;
-}
-
-int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
-{
-	if (_queue_size == queue_size) {
-		return PX4_OK;
-	}
-
-	//queue size is limited to 255 for the single reason that we use uint8 to store it
-	if (_data || _queue_size > queue_size || queue_size > 255) {
-		return PX4_ERROR;
-	}
-
-	_queue_size = queue_size;
-	return PX4_OK;
-}
-
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
 int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
 {
 	// if there is already data in the node, send this out to
@@ -803,15 +784,11 @@ int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
 	return PX4_OK;
 }
 
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
 int16_t uORB::DeviceNode::process_remove_subscription()
 {
 	return PX4_OK;
 }
 
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
 int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data)
 {
 	int16_t ret = -1;
@@ -835,6 +812,22 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
 
 	return PX4_OK;
 }
+#endif /* ORB_COMMUNICATOR */
+
+int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
+{
+	if (_queue_size == queue_size) {
+		return PX4_OK;
+	}
+
+	//queue size is limited to 255 for the single reason that we use uint8 to store it
+	if (_data || _queue_size > queue_size || queue_size > 255) {
+		return PX4_ERROR;
+	}
+
+	_queue_size = queue_size;
+	return PX4_OK;
+}
 
 uORB::DeviceMaster::DeviceMaster() :
 	CDev("obj_master", TOPIC_MASTER_DEVICE_PATH)

src/modules/uORB/uORBDevices.hpp

@@ -116,6 +116,7 @@ public:
 
 	static int        unadvertise(orb_advert_t handle);
 
+#ifdef ORB_COMMUNICATOR
 	static int16_t topic_advertised(const orb_metadata *meta, int priority);
 	//static int16_t topic_unadvertised(const orb_metadata *meta, int priority);
 
@@ -155,13 +156,14 @@ public:
 	 *   the Subscriber to be removed.
 	 */
 	void remove_internal_subscriber();
+#endif /* ORB_COMMUNICATOR */
 
 	/**
 	 * Return true if this topic has been published.
 	 *
 	 * This is used in the case of multi_pub/sub to check if it's valid to advertise
 	 * and publish to this node or if another node should be tried. */
-	bool is_published();
+	bool is_published() const { return _published; }
 
 	/**
 	 * Try to change the size of the queue. This can only be done as long as nobody published yet.
@@ -214,13 +216,13 @@ private:
 	};
 
 	const struct orb_metadata *_meta; /**< object metadata information */
-	uint8_t     *_data;   /**< allocated object buffer */
+	uint8_t     *_data{nullptr};   /**< allocated object buffer */
-	hrt_abstime   _last_update; /**< time the object was last updated */
+	hrt_abstime   _last_update{0}; /**< time the object was last updated */
-	volatile unsigned   _generation;  /**< object generation count */
+	volatile unsigned   _generation{0};  /**< object generation count */
 	uint8_t   _priority;  /**< priority of the topic */
-	bool _published;  /**< has ever data been published */
+	bool _published{false};  /**< has ever data been published */
 	uint8_t _queue_size; /**< maximum number of elements in the queue */
-	int16_t _subscriber_count;
+	int16_t _subscriber_count{0};
 
 	inline static SubscriberData    *filp_to_sd(device::file_t *filp);
 

src/modules/uORB/uORBManager.cpp

@@ -36,12 +36,13 @@
 #include <stdarg.h>
 #include <fcntl.h>
 #include <errno.h>
+
 #include <px4_config.h>
 #include <px4_posix.h>
 #include <px4_tasks.h>
+
 #include "uORBUtils.hpp"
 #include "uORBManager.hpp"
-#include "px4_config.h"
 #include "uORBDevices.hpp"
 
 
@@ -62,10 +63,7 @@ bool uORB::Manager::initialize()
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 uORB::Manager::Manager()
-	: _comm_channel(nullptr)
 {
-	_device_master = nullptr;
-
 #ifdef ORB_USE_PUBLISHER_RULES
 	const char *file_name = "./rootfs/orb_publisher.rules";
 	int ret = readPublisherRulesFromFile(file_name, _publisher_rule);
@@ -131,10 +129,14 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 #else
 	ret = px4_access(path, F_OK);
 
+#ifdef ORB_COMMUNICATOR
+
 	if (ret == -1 && meta != nullptr && !_remote_topics.empty()) {
 		ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : PX4_ERROR;
 	}
 
+#endif /* ORB_COMMUNICATOR */
+
 #endif
 
 	if (ret == 0) {
@@ -215,8 +217,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 		return nullptr;
 	}
 
-	//For remote systems call over and inform them
+#ifdef ORB_COMMUNICATOR
+	// For remote systems call over and inform them
 	uORB::DeviceNode::topic_advertised(meta, priority);
+#endif /* ORB_COMMUNICATOR */
 
 	/* the advertiser must perform an initial publish to initialise the object */
 	result = orb_publish(meta, advertiser, data);
@@ -318,13 +322,7 @@ int uORB::Manager::orb_get_interval(int handle, unsigned *interval)
 	return ret;
 }
 
-
+int uORB::Manager::node_advertise(const struct orb_metadata *meta, int *instance, int priority)
-int uORB::Manager::node_advertise
-(
-	const struct orb_metadata *meta,
-	int *instance,
-	int priority
-)
 {
 	int fd = -1;
 	int ret = PX4_ERROR;
@@ -441,8 +439,7 @@ int uORB::Manager::node_open(const struct orb_metadata *meta, const void *data,
 	return fd;
 }
 
-//-----------------------------------------------------------------------------
+#ifdef ORB_COMMUNICATOR
-//-----------------------------------------------------------------------------
 void uORB::Manager::set_uorb_communicator(uORBCommunicator::IChannel *channel)
 {
 	_comm_channel = channel;
@@ -457,8 +454,6 @@ uORBCommunicator::IChannel *uORB::Manager::get_uorb_communicator()
 	return _comm_channel;
 }
 
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
 int16_t uORB::Manager::process_remote_topic(const char *topic_name, bool isAdvertisement)
 {
 	int16_t rc = 0;
@@ -473,8 +468,6 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name, bool isAdver
 	return rc;
 }
 
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
 int16_t uORB::Manager::process_add_subscription(const char *messageName, int32_t msgRateInHz)
 {
 	PX4_DEBUG("entering Manager_process_add_subscription: name: %s", messageName);
@@ -503,8 +496,6 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName, int32_t
 	return rc;
 }
 
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
 int16_t uORB::Manager::process_remove_subscription(const char *messageName)
 {
 	int16_t rc = -1;
@@ -531,8 +522,6 @@ int16_t uORB::Manager::process_remove_subscription(const char *messageName)
 	return rc;
 }
 
-//-----------------------------------------------------------------------------
-//-----------------------------------------------------------------------------
 int16_t uORB::Manager::process_received_message(const char *messageName, int32_t length, uint8_t *data)
 {
 	int16_t rc = -1;
@@ -565,7 +554,7 @@ bool uORB::Manager::is_remote_subscriber_present(const char *messageName)
 	return (_remote_subscriber_topics.find(messageName) != _remote_subscriber_topics.end());
 #endif
 }
-
+#endif /* ORB_COMMUNICATOR */
 
 #ifdef ORB_USE_PUBLISHER_RULES
 

src/modules/uORB/uORBManager.hpp

@@ -45,7 +45,9 @@
 #define ORBSet std::set<std::string>
 #endif
 
+#ifdef ORB_COMMUNICATOR
 #include "uORBCommunicator.hpp"
+#endif /* ORB_COMMUNICATOR */
 
 namespace uORB
 {
@@ -57,7 +59,10 @@ class Manager;
  * uORB nodes for each uORB topics and also implements the behavor of the
  * uORB Api's.
  */
-class uORB::Manager  : public uORBCommunicator::IChannelRxHandler
+class uORB::Manager
+#ifdef ORB_COMMUNICATOR
+	: public uORBCommunicator::IChannelRxHandler
+#endif /* ORB_COMMUNICATOR */
 {
 public:
 	// public interfaces for this class.
@@ -73,10 +78,7 @@ public:
 	 * Make sure initialize() is called first.
 	 * @return uORB::Manager*
 	 */
-	static uORB::Manager *get_instance()
+	static uORB::Manager *get_instance() { return _Instance; }
-	{
-		return _Instance;
-	}
 
 	/**
 	 * Get the DeviceMaster. If it does not exist,
@@ -154,7 +156,6 @@ public:
 	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
 					 int priority, unsigned int queue_size = 1);
 
-
 	/**
 	 * Unadvertise a topic.
 	 *
@@ -350,6 +351,7 @@ public:
 	 */
 	int	orb_get_interval(int handle, unsigned *interval);
 
+#ifdef ORB_COMMUNICATOR
 	/**
 	 * Method to set the uORBCommunicator::IChannel instance.
 	 * @param comm_channel
@@ -370,6 +372,7 @@ public:
 	 * for a given topic
 	 */
 	bool is_remote_subscriber_present(const char *messageName);
+#endif /* ORB_COMMUNICATOR */
 
 private: // class methods
 	/**
@@ -379,13 +382,7 @@ private: // class methods
 	 * @todo verify that the existing node is the same as the one
 	 *       we tried to advertise.
 	 */
-	int
+	int node_advertise(const struct orb_metadata *meta, int *instance = nullptr, int priority = ORB_PRIO_DEFAULT);
-	node_advertise
-	(
-		const struct orb_metadata *meta,
-		int *instance = nullptr,
-		int priority = ORB_PRIO_DEFAULT
-	);
 
 	/**
 	 * Common implementation for orb_advertise and orb_subscribe.
@@ -398,11 +395,14 @@ private: // class methods
 
 private: // data members
 	static Manager *_Instance;
+
+#ifdef ORB_COMMUNICATOR
 	// the communicator channel instance.
-	uORBCommunicator::IChannel *_comm_channel;
+	uORBCommunicator::IChannel *_comm_channel{nullptr};
 
 	ORBSet _remote_subscriber_topics;
 	ORBSet _remote_topics;
+#endif /* ORB_COMMUNICATOR */
 
 	DeviceMaster *_device_master{nullptr};
 
@@ -410,6 +410,7 @@ private: //class methods
 	Manager();
 	~Manager();
 
+#ifdef ORB_COMMUNICATOR
 	/**
 	 * Interface to process a received topic from remote.
 	 * @param topic_name
@@ -436,8 +437,7 @@ private: //class methods
 	   *    handler.
 	   *  otherwise = failure.
 	   */
-	virtual int16_t process_add_subscription(const char *messageName,
+	virtual int16_t process_add_subscription(const char *messageName, int32_t msgRateInHz);
-			int32_t msgRateInHz);
 
 	/**
 	 * Interface to process a received control msg to remove subscription
@@ -465,9 +465,8 @@ private: //class methods
 	 *    handler.
 	 *  otherwise = failure.
 	 */
-	virtual int16_t process_received_message(const char *messageName,
+	virtual int16_t process_received_message(const char *messageName, int32_t length, uint8_t *data);
-			int32_t length, uint8_t *data);
+#endif /* ORB_COMMUNICATOR */
-
 
 #ifdef ORB_USE_PUBLISHER_RULES