uORB move to PX4 platform layer

platforms/common/uORB/uORB.cpp

@@ -0,0 +1,174 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file uORB.cpp
+ * A lightweight object broker.
+ */
+
+#include "uORB.h"
+
+#include "uORBManager.hpp"
+#include "uORBCommon.hpp"
+
+static uORB::DeviceMaster *g_dev = nullptr;
+
+int uorb_start(void)
+{
+	if (g_dev != nullptr) {
+		PX4_WARN("already loaded");
+		/* user wanted to start uorb, its already running, no error */
+		return 0;
+	}
+
+	if (!uORB::Manager::initialize()) {
+		PX4_ERR("uorb manager alloc failed");
+		return -ENOMEM;
+	}
+
+	/* create the driver */
+	g_dev = uORB::Manager::get_instance()->get_device_master();
+
+	if (g_dev == nullptr) {
+		return -errno;
+	}
+
+	return OK;
+}
+
+int uorb_status(void)
+{
+	if (g_dev != nullptr) {
+		g_dev->printStatistics();
+
+	} else {
+		PX4_INFO("uorb is not running");
+	}
+
+	return OK;
+}
+
+int uorb_top(char **topic_filter, int num_filters)
+{
+	if (g_dev != nullptr) {
+		g_dev->showTop(topic_filter, num_filters);
+
+	} else {
+		PX4_INFO("uorb is not running");
+	}
+
+	return OK;
+}
+
+
+orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
+{
+	return uORB::Manager::get_instance()->orb_advertise(meta, data);
+}
+
+orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size)
+{
+	return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size);
+}
+
+orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
+{
+	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance);
+}
+
+orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
+				       unsigned int queue_size)
+{
+	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size);
+}
+
+int orb_unadvertise(orb_advert_t handle)
+{
+	return uORB::Manager::get_instance()->orb_unadvertise(handle);
+}
+
+int  orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
+{
+	return uORB::Manager::get_instance()->orb_publish(meta, handle, data);
+}
+
+int  orb_subscribe(const struct orb_metadata *meta)
+{
+	return uORB::Manager::get_instance()->orb_subscribe(meta);
+}
+
+int  orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
+{
+	return uORB::Manager::get_instance()->orb_subscribe_multi(meta, instance);
+}
+
+int  orb_unsubscribe(int handle)
+{
+	return uORB::Manager::get_instance()->orb_unsubscribe(handle);
+}
+
+int  orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
+{
+	return uORB::Manager::get_instance()->orb_copy(meta, handle, buffer);
+}
+
+int  orb_check(int handle, bool *updated)
+{
+	return uORB::Manager::get_instance()->orb_check(handle, updated);
+}
+
+int  orb_exists(const struct orb_metadata *meta, int instance)
+{
+	return uORB::Manager::get_instance()->orb_exists(meta, instance);
+}
+
+int  orb_group_count(const struct orb_metadata *meta)
+{
+	unsigned instance = 0;
+
+	while (uORB::Manager::get_instance()->orb_exists(meta, instance) == OK) {
+		++instance;
+	};
+
+	return instance;
+}
+
+int orb_set_interval(int handle, unsigned interval)
+{
+	return uORB::Manager::get_instance()->orb_set_interval(handle, interval);
+}
+
+int orb_get_interval(int handle, unsigned *interval)
+{
+	return uORB::Manager::get_instance()->orb_get_interval(handle, interval);
+}