uORB move to PX4 platform layer

2025-12-13 10:46:01 +08:00 · 2021-02-17 11:25:56 -05:00
parent 6bbb2faf8a
commit ab0d0fd0be
156 changed files with 261 additions and 212 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -406,7 +406,6 @@ add_subdirectory(src/lib EXCLUDE_FROM_ALL)

 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
 add_subdirectory(platforms EXCLUDE_FROM_ALL)
-add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
--- a/ROMFS/cannode/init.d/rcS
+++ b/ROMFS/cannode/init.d/rcS
@@ -30,13 +30,6 @@ sercon
 #
 ver all

-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Set the parameter file if mtd starts successfully.
 #
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay
@@ -20,7 +20,6 @@ module: replay
 ignore_others: false
 EOF

-uorb start
 param set SDLOG_DIRS_MAX 7

 # apply all params before ekf starts, as some params cannot be changed after startup
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -53,8 +53,6 @@ else
 	fi
 fi

-uorb start
-
 # Load parameters
 set PARAM_FILE eeprom/parameters_"$REQUESTED_AUTOSTART"
 param select $PARAM_FILE
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -73,13 +73,6 @@ sercon
 #
 ver all

-#
-# Start the ORB (first app to start)
-# tone_alarm and tune_control
-# is dependent.
-#
-uorb start
-
 #
 # Try to mount the microSD card.
 #
--- a/ROMFS/px4fmu_test/init.d/rc.standalone
+++ b/ROMFS/px4fmu_test/init.d/rc.standalone
@@ -5,9 +5,4 @@

 echo "[i] doing standalone PX4FMU startup..."

-#
-# Start the ORB
-#
-uorb start
-
 echo "[i] startup done"
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@@ -8,8 +8,6 @@ set unit_test_failure 0

 set BOARD_RC ${R}etc/init.d/rc.board

-uorb start
-
 if rgbled start -X
 then
 	led_control on -c blue
@@ -41,11 +39,6 @@ fi
 # Start a minimal system
 #

-#
-# Start the ORB (first app to start)
-#
-uorb start
-
 #
 # Load parameters
 #
--- a/boards/aerotenna/ocpoc/default.cmake
+++ b/boards/aerotenna/ocpoc/default.cmake
@@ -83,6 +83,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
--- a/boards/airmind/mindpx-v2/default.cmake
+++ b/boards/airmind/mindpx-v2/default.cmake
@@ -105,6 +105,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/atlflight/eagle/default.cmake
+++ b/boards/atlflight/eagle/default.cmake
@@ -110,6 +110,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
--- a/boards/atlflight/excelsior/default.cmake
+++ b/boards/atlflight/excelsior/default.cmake
@@ -108,6 +108,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
--- a/boards/av/x-v1/default.cmake
+++ b/boards/av/x-v1/default.cmake
@@ -102,6 +102,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
--- a/boards/beaglebone/blue/default.cmake
+++ b/boards/beaglebone/blue/default.cmake
@@ -79,6 +79,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
--- a/boards/bitcraze/crazyflie/default.cmake
+++ b/boards/bitcraze/crazyflie/default.cmake
@@ -64,6 +64,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/bitcraze/crazyflie21/default.cmake
+++ b/boards/bitcraze/crazyflie21/default.cmake
@@ -61,6 +61,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/cuav/can-gps-v1/default.cmake
+++ b/boards/cuav/can-gps-v1/default.cmake
@@ -49,6 +49,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 )
--- a/boards/cuav/nora/default.cmake
+++ b/boards/cuav/nora/default.cmake
@@ -109,6 +109,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/cuav/x7pro/default.cmake
+++ b/boards/cuav/x7pro/default.cmake
@@ -112,6 +112,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/cubepilot/cubeorange/console.cmake
+++ b/boards/cubepilot/cubeorange/console.cmake
@@ -113,6 +113,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/cubepilot/cubeorange/default.cmake
+++ b/boards/cubepilot/cubeorange/default.cmake
@@ -113,6 +113,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/cubepilot/cubeyellow/console.cmake
+++ b/boards/cubepilot/cubeyellow/console.cmake
@@ -112,6 +112,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/cubepilot/cubeyellow/default.cmake
+++ b/boards/cubepilot/cubeyellow/default.cmake
@@ -112,6 +112,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/emlid/navio2/default.cmake
+++ b/boards/emlid/navio2/default.cmake
@@ -79,6 +79,7 @@ px4_add_board(
 		#top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
--- a/boards/holybro/durandal-v1/default.cmake
+++ b/boards/holybro/durandal-v1/default.cmake
@@ -110,6 +110,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/holybro/kakutef7/default.cmake
+++ b/boards/holybro/kakutef7/default.cmake
@@ -72,6 +72,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/holybro/pix32v5/default.cmake
+++ b/boards/holybro/pix32v5/default.cmake
@@ -117,6 +117,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/intel/aerofc-v1/default.cmake
+++ b/boards/intel/aerofc-v1/default.cmake
@@ -88,6 +88,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
--- a/boards/intel/aerofc-v1/rtps.cmake
+++ b/boards/intel/aerofc-v1/rtps.cmake
@@ -87,6 +87,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 	EXAMPLES
--- a/boards/modalai/fc-v1/default.cmake
+++ b/boards/modalai/fc-v1/default.cmake
@@ -104,6 +104,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/mro/ctrl-zero-f7-oem/default.cmake
+++ b/boards/mro/ctrl-zero-f7-oem/default.cmake
@@ -109,6 +109,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/mro/ctrl-zero-f7/default.cmake
+++ b/boards/mro/ctrl-zero-f7/default.cmake
@@ -109,6 +109,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/mro/pixracerpro/default.cmake
+++ b/boards/mro/pixracerpro/default.cmake
@@ -110,6 +110,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/mro/x21-777/default.cmake
+++ b/boards/mro/x21-777/default.cmake
@@ -111,6 +111,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/mro/x21/default.cmake
+++ b/boards/mro/x21/default.cmake
@@ -107,6 +107,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/nxp/fmuk66-e/default.cmake
+++ b/boards/nxp/fmuk66-e/default.cmake
@@ -106,6 +106,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/nxp/fmuk66-e/socketcan.cmake
+++ b/boards/nxp/fmuk66-e/socketcan.cmake
@@ -105,6 +105,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -106,6 +106,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/nxp/fmuk66-v3/rtps.cmake
+++ b/boards/nxp/fmuk66-v3/rtps.cmake
@@ -106,6 +106,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/nxp/fmuk66-v3/socketcan.cmake
+++ b/boards/nxp/fmuk66-v3/socketcan.cmake
@@ -105,6 +105,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/nxp/fmurt1062-v1/default.cmake
+++ b/boards/nxp/fmurt1062-v1/default.cmake
@@ -98,6 +98,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -93,6 +93,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/px4/fmu-v2/default.cmake
+++ b/boards/px4/fmu-v2/default.cmake
@@ -123,6 +123,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		#uorb
 		#usb_connected
 		#ver
 		#work_queue
--- a/boards/px4/fmu-v2/fixedwing.cmake
+++ b/boards/px4/fmu-v2/fixedwing.cmake
@@ -82,6 +82,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		#uorb
 		#usb_connected
 		ver
 		#work_queue
--- a/boards/px4/fmu-v2/lpe.cmake
+++ b/boards/px4/fmu-v2/lpe.cmake
@@ -108,6 +108,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue

--- a/boards/px4/fmu-v2/multicopter.cmake
+++ b/boards/px4/fmu-v2/multicopter.cmake
@@ -81,6 +81,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		#uorb
 		#usb_connected
 		ver
 		#work_queue
--- a/boards/px4/fmu-v2/rover.cmake
+++ b/boards/px4/fmu-v2/rover.cmake
@@ -75,6 +75,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/px4/fmu-v2/test.cmake
+++ b/boards/px4/fmu-v2/test.cmake
@@ -116,6 +116,7 @@ px4_add_board(
 		top
 		#topic_listener
 		tune_control
+		#uorb
 		#usb_connected
 		ver
 		#work_queue
--- a/boards/px4/fmu-v3/ctrlalloc.cmake
+++ b/boards/px4/fmu-v3/ctrlalloc.cmake
@@ -122,6 +122,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@@ -120,6 +120,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/boards/px4/fmu-v3/rtps.cmake
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -116,6 +116,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
--- a/Show More
+++ b/Show More