-
Notifications
You must be signed in to change notification settings - Fork 13.6k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
uORB Subscription callbacks with WorkItem scheduling on publication (#…
- Loading branch information
Showing
11 changed files
with
375 additions
and
6 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,136 @@ | ||
/**************************************************************************** | ||
* | ||
* Copyright (c) 2019 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 SubscriptionCallback.hpp | ||
* | ||
*/ | ||
|
||
#pragma once | ||
|
||
#include <uORB/SubscriptionInterval.hpp> | ||
#include <containers/List.hpp> | ||
#include <px4_work_queue/WorkItem.hpp> | ||
|
||
namespace uORB | ||
{ | ||
|
||
// Subscription wrapper class with callbacks on new publications | ||
class SubscriptionCallback : public SubscriptionInterval, public ListNode<SubscriptionCallback *> | ||
{ | ||
public: | ||
/** | ||
* Constructor | ||
* | ||
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic. | ||
* @param instance The instance for multi sub. | ||
*/ | ||
SubscriptionCallback(const orb_metadata *meta, uint8_t interval_ms = 0, uint8_t instance = 0) : | ||
SubscriptionInterval(meta, interval_ms, instance) | ||
{ | ||
} | ||
|
||
virtual ~SubscriptionCallback() | ||
{ | ||
unregister_callback(); | ||
}; | ||
|
||
bool register_callback() | ||
{ | ||
bool ret = false; | ||
|
||
if (_subscription.get_node() && _subscription.get_node()->register_callback(this)) { | ||
// registered | ||
ret = true; | ||
|
||
} else { | ||
// force topic creation by subscribing with old API | ||
int fd = orb_subscribe_multi(_subscription.get_topic(), _subscription.get_instance()); | ||
|
||
// try to register callback again | ||
if (_subscription.forceInit()) { | ||
if (_subscription.get_node() && _subscription.get_node()->register_callback(this)) { | ||
ret = true; | ||
} | ||
} | ||
|
||
orb_unsubscribe(fd); | ||
} | ||
|
||
|
||
return ret; | ||
} | ||
|
||
void unregister_callback() | ||
{ | ||
if (_subscription.get_node()) { | ||
_subscription.get_node()->unregister_callback(this); | ||
} | ||
} | ||
|
||
virtual void call() = 0; | ||
|
||
}; | ||
|
||
// Subscription with callback that schedules a WorkItem | ||
class SubscriptionCallbackWorkItem : public SubscriptionCallback | ||
{ | ||
public: | ||
/** | ||
* Constructor | ||
* | ||
* @param work_item The WorkItem that will be scheduled immediately on new publications. | ||
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic. | ||
* @param instance The instance for multi sub. | ||
*/ | ||
SubscriptionCallbackWorkItem(px4::WorkItem *work_item, const orb_metadata *meta, uint8_t instance = 0) : | ||
SubscriptionCallback(meta, 0, instance), // interval 0 | ||
_work_item(work_item) | ||
{ | ||
} | ||
|
||
virtual ~SubscriptionCallbackWorkItem() = default; | ||
|
||
void call() override | ||
{ | ||
// schedule immediately if no interval, otherwise check time elapsed | ||
if ((_interval == 0) || (hrt_elapsed_time(&_last_update) >= _interval)) { | ||
_work_item->ScheduleNow(); | ||
} | ||
} | ||
|
||
private: | ||
px4::WorkItem *_work_item; | ||
}; | ||
|
||
} // namespace uORB |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,133 @@ | ||
/**************************************************************************** | ||
* | ||
* Copyright (c) 2019 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 SubscriptionInterval.hpp | ||
* | ||
*/ | ||
|
||
#pragma once | ||
|
||
#include <uORB/uORB.h> | ||
#include <px4_defines.h> | ||
|
||
#include "uORBDeviceNode.hpp" | ||
#include "uORBManager.hpp" | ||
#include "uORBUtils.hpp" | ||
|
||
#include "Subscription.hpp" | ||
|
||
namespace uORB | ||
{ | ||
|
||
// Base subscription wrapper class | ||
class SubscriptionInterval | ||
{ | ||
public: | ||
|
||
/** | ||
* Constructor | ||
* | ||
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic. | ||
* @param interval The requested maximum update interval in microseconds. | ||
* @param instance The instance for multi sub. | ||
*/ | ||
SubscriptionInterval(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) : | ||
_subscription{meta, instance}, | ||
_interval(interval_us) | ||
{} | ||
|
||
SubscriptionInterval() : _subscription{nullptr} {} | ||
|
||
~SubscriptionInterval() = default; | ||
|
||
bool published() { return _subscription.published(); } | ||
|
||
/** | ||
* Check if there is a new update. | ||
* */ | ||
bool updated() | ||
{ | ||
if (published() && (hrt_elapsed_time(&_last_update) >= _interval)) { | ||
return _subscription.updated(); | ||
} | ||
|
||
return false; | ||
} | ||
|
||
/** | ||
* Copy the struct if updated. | ||
* @param dst The destination pointer where the struct will be copied. | ||
* @return true only if topic was updated and copied successfully. | ||
*/ | ||
bool update(void *dst) | ||
{ | ||
if (updated()) { | ||
return copy(dst); | ||
} | ||
|
||
return false; | ||
} | ||
|
||
/** | ||
* Copy the struct | ||
* @param dst The destination pointer where the struct will be copied. | ||
* @return true only if topic was copied successfully. | ||
*/ | ||
bool copy(void *dst) | ||
{ | ||
if (_subscription.copy(dst)) { | ||
_last_update = hrt_absolute_time(); | ||
return true; | ||
} | ||
|
||
return false; | ||
} | ||
|
||
bool valid() const { return _subscription.valid(); } | ||
|
||
uint8_t get_instance() const { return _subscription.get_instance(); } | ||
orb_id_t get_topic() const { return _subscription.get_topic(); } | ||
uint32_t get_interval() const { return _interval; } | ||
|
||
void set_interval(uint32_t interval) { _interval = interval; } | ||
|
||
protected: | ||
|
||
Subscription _subscription; | ||
uint64_t _last_update{0}; // last update in microseconds | ||
uint32_t _interval{0}; // maximum update interval in microseconds | ||
|
||
}; | ||
|
||
} // namespace uORB |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.