#include <uORBKraitFastRpcChannel.hpp>

Inheritance diagram for uORB::KraitFastRpcChannel:

Collaboration diagram for uORB::KraitFastRpcChannel:

Classes
struct	BulkTransferHeader

Public Member Functions
virtual int16_t	topic_advertised (const char *messageName)
	Interface to notify the remote entity of a topic being advertised. More...

virtual int16_t	topic_unadvertised (const char *messageName)
	Interface to notify the remote entity of a topic being unadvertised and is no longer publishing messages. More...

virtual int16_t	add_subscription (const char *messageName, int32_t msgRateInHz)
	Interface to notify the remote entity of interest of a subscription for a message. More...

virtual int16_t	remove_subscription (const char *messageName)
	Interface to notify the remote entity of removal of a subscription. More...

virtual int16_t	register_handler (uORBCommunicator::IChannelRxHandler *handler)
	Register Message Handler. More...

virtual int16_t	send_message (const char messageName, int32_t length, uint8_t data)
	Sends the data message over the communication link. More...

void	Start ()

void	Stop ()

Static Public Member Functions
static uORB::KraitFastRpcChannel *	GetInstance ()
	static method to get the IChannel Implementor. More...

static bool	isInstance ()
	Static method to check if there is an instance. More...

Private Member Functions
	KraitFastRpcChannel ()
	constructor. More...

void	fastrpc_recv_thread ()

Static Private Member Functions
static void *	thread_start (void *handler)

Private Attributes
uORBCommunicator::IChannelRxHandler *	_RxHandler

pthread_t	_RecvThread

bool	_ThreadStarted

bool	_ThreadShouldExit

px4muorb::KraitRpcWrapper	_KraitWrapper

std::map< std::string, int32_t >	_AdspSubscriberCache

std::map< std::string, hrt_abstime >	_AdspSubscriberSampleTimestamp

Static Private Attributes
static uORB::KraitFastRpcChannel *	_InstancePtr = nullptr

static const int32_t	_CONTROL_MSG_TYPE_ADD_SUBSCRIBER = 1

static const int32_t	_CONTROL_MSG_TYPE_REMOVE_SUBSCRIBER = 2

static const int32_t	_DATA_MSG_TYPE = 3

static const int32_t	_CONTROL_MSG_TYPE_ADVERTISE = 4

static const int32_t	_CONTROL_MSG_TYPE_UNADVERTISE = 5

static const hrt_abstime	_SubCacheRefreshRate = 1000000

Detailed Description

Definition at line 50 of file uORBKraitFastRpcChannel.hpp.

Constructor & Destructor Documentation

◆ KraitFastRpcChannel()

uORB::KraitFastRpcChannel::KraitFastRpcChannel ( )

private

constructor.

Definition at line 63 of file uORBKraitFastRpcChannel.cpp.

References _KraitWrapper, and px4muorb::KraitRpcWrapper::Initialize().

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Member Function Documentation

◆ add_subscription()

int16_t uORB::KraitFastRpcChannel::add_subscription	(	const char *	messageName,
		int32_t	msgRateInHz
	)

virtual

Interface to notify the remote entity of interest of a subscription for a message.

Parameters

messageName	This represents the uORB message name; This message name should be globally unique.
msgRate	The max rate at which the subscriber can accept the messages.

Returns: 0 = success; This means the messages is successfully sent to the receiver Note: This does not mean that the receiver as received it. otherwise = failure.

Implements uORBCommunicator::IChannel.

Definition at line 89 of file uORBKraitFastRpcChannel.cpp.

References _KraitWrapper, and px4muorb::KraitRpcWrapper::AddSubscriber().

Referenced by isInstance().

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◆ fastrpc_recv_thread()

void uORB::KraitFastRpcChannel::fastrpc_recv_thread ( )

private

Definition at line 230 of file uORBKraitFastRpcChannel.cpp.

References _CONTROL_MSG_TYPE_ADVERTISE, _CONTROL_MSG_TYPE_UNADVERTISE, _DATA_MSG_TYPE, uORB::KraitFastRpcChannel::BulkTransferHeader::_DataLen, _KraitWrapper, uORB::KraitFastRpcChannel::BulkTransferHeader::_MsgNameLen, uORB::KraitFastRpcChannel::BulkTransferHeader::_MsgType, _RxHandler, _ThreadShouldExit, data, DumpData(), hrt_absolute_time(), hrt_abstime, uORBCommunicator::IChannelRxHandler::process_received_message(), uORBCommunicator::IChannelRxHandler::process_remote_topic(), px4muorb::KraitRpcWrapper::ReceiveBulkData(), t1, t2, and t3.

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◆ GetInstance()

static uORB::KraitFastRpcChannel* uORB::KraitFastRpcChannel::GetInstance ( )

inlinestatic

static method to get the IChannel Implementor.

Definition at line 56 of file uORBKraitFastRpcChannel.hpp.

References _InstancePtr.

Referenced by muorb_main().

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◆ isInstance()

static bool uORB::KraitFastRpcChannel::isInstance ( )

inlinestatic

Static method to check if there is an instance.

Definition at line 68 of file uORBKraitFastRpcChannel.hpp.

References _InstancePtr, add_subscription(), data, register_handler(), remove_subscription(), send_message(), Start(), Stop(), topic_advertised(), and topic_unadvertised().

Referenced by muorb_main().

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◆ register_handler()

int16_t uORB::KraitFastRpcChannel::register_handler ( uORBCommunicator::IChannelRxHandler * handler )

virtual

Register Message Handler.

This is internal for the IChannel implementer*

Implements uORBCommunicator::IChannel.

Definition at line 107 of file uORBKraitFastRpcChannel.cpp.

References _RxHandler.

Referenced by isInstance().

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◆ remove_subscription()

int16_t uORB::KraitFastRpcChannel::remove_subscription ( const char * messageName )

virtual

Interface to notify the remote entity of removal of a subscription.

Parameters

messageName This represents the uORB message name; This message name should be globally unique.

Returns: 0 = success; This means the messages is successfully sent to the receiver Note: This does not necessarily mean that the receiver as received it. otherwise = failure.

Implements uORBCommunicator::IChannel.

Definition at line 98 of file uORBKraitFastRpcChannel.cpp.

References _KraitWrapper, and px4muorb::KraitRpcWrapper::RemoveSubscriber().

Referenced by isInstance().

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◆ send_message()

int16_t uORB::KraitFastRpcChannel::send_message	(	const char *	messageName,
		int32_t	length,
		uint8_t *	data
	)

virtual

Sends the data message over the communication link.

Parameters

messageName	This represents the uORB message name; This message name should be globally unique.
length	The length of the data buffer to be sent.
data	The actual data to be sent.

Returns: 0 = success; This means the messages is successfully sent to the receiver Note: This does not mean that the receiver as received it. otherwise = failure.

Implements uORBCommunicator::IChannel.

Definition at line 113 of file uORBKraitFastRpcChannel.cpp.

References _AdspSubscriberCache, _AdspSubscriberSampleTimestamp, _KraitWrapper, _log_check_interval, _log_check_time, _overall_snd_avg, _overall_snd_count, _overall_snd_max, _overall_snd_min, _snd_msg_avg, _snd_msg_count, _snd_msg_max, _snd_msg_min, _SubCacheRefreshRate, hrt_absolute_time(), hrt_abstime, px4muorb::KraitRpcWrapper::IsSubscriberPresent(), px4muorb::KraitRpcWrapper::SendData(), status, t1, t2, t3, and t4.

Referenced by isInstance().

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◆ Start()

void uORB::KraitFastRpcChannel::Start ( )

Definition at line 187 of file uORBKraitFastRpcChannel.cpp.

References _RecvThread, _ThreadShouldExit, _ThreadStarted, and thread_start().

Referenced by isInstance(), and muorb_main().

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◆ Stop()

void uORB::KraitFastRpcChannel::Stop ( )

Definition at line 211 of file uORBKraitFastRpcChannel.cpp.

References _KraitWrapper, _RecvThread, _ThreadShouldExit, _ThreadStarted, and px4muorb::KraitRpcWrapper::UnblockReceiveData().

Referenced by isInstance(), and muorb_main().

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◆ thread_start()

void * uORB::KraitFastRpcChannel::thread_start ( void * handler )

staticprivate

Definition at line 221 of file uORBKraitFastRpcChannel.cpp.

Referenced by Start().

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◆ topic_advertised()

int16_t uORB::KraitFastRpcChannel::topic_advertised ( const char * messageName )

virtual

Interface to notify the remote entity of a topic being advertised.

Parameters

messageName This represents the uORB message name(aka topic); This message name should be globally unique.

Returns: 0 = success; This means the messages is successfully sent to the receiver Note: This does not mean that the receiver as received it. otherwise = failure.

Implements uORBCommunicator::IChannel.

Definition at line 71 of file uORBKraitFastRpcChannel.cpp.

References _KraitWrapper, and px4muorb::KraitRpcWrapper::TopicAdvertised().

Referenced by isInstance().

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◆ topic_unadvertised()

int16_t uORB::KraitFastRpcChannel::topic_unadvertised ( const char * messageName )

virtual

Interface to notify the remote entity of a topic being unadvertised and is no longer publishing messages.

Parameters

messageName This represents the uORB message name(aka topic); This message name should be globally unique.

Returns: 0 = success; This means the messages is successfully sent to the receiver Note: This does not mean that the receiver as received it. otherwise = failure.

Definition at line 80 of file uORBKraitFastRpcChannel.cpp.

References _KraitWrapper, and px4muorb::KraitRpcWrapper::TopicUnadvertised().

Referenced by isInstance().

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