uORBKraitFastRpcChannel.hpp

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#ifndef _uORBKraitFastRpcChannel_hpp_
#define _uORBKraitFastRpcChannel_hpp_

#include <stdint.h>
#include <string>
#include <pthread.h>
#include "uORB/uORBCommunicator.hpp"
#include "px4muorb_KraitRpcWrapper.hpp"
#include <map>
#include "drivers/drv_hrt.h"

namespace uORB
{
class KraitFastRpcChannel;
}

class uORB::KraitFastRpcChannel : public uORBCommunicator::IChannel
{
public:
    /**
     * static method to get the IChannel Implementor.
     */
    static uORB::KraitFastRpcChannel *GetInstance()
    {
        if (_InstancePtr == nullptr) {
            _InstancePtr = new uORB::KraitFastRpcChannel();
        }

        return _InstancePtr;
    }

    /**
     * Static method to check if there is an instance.
     */
    static bool isInstance()
    {
        return (_InstancePtr != nullptr);
    }

    /**
     * @brief Interface to notify the remote entity of a topic being advertised.
     *
     * @param messageName
     *  This represents the uORB message name(aka topic); This message name should be
     *  globally unique.
     * @return
     *  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.
     */
    virtual int16_t topic_advertised(const char *messageName);

    /**
     * @brief Interface to notify the remote entity of a topic being unadvertised
     * and is no longer publishing messages.
     *
     * @param messageName
     *  This represents the uORB message name(aka topic); This message name should be
     *  globally unique.
     * @return
     *  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.
     */
    virtual int16_t topic_unadvertised(const char *messageName);

    /**
     * @brief Interface to notify the remote entity of interest of a
     * subscription for a message.
     *
     * @param messageName
     *  This represents the uORB message name; This message name should be
     *  globally unique.
     * @param msgRate
     *  The max rate at which the subscriber can accept the messages.
     * @return
     *  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.
     */
    virtual int16_t add_subscription(const char *messageName, int32_t msgRateInHz);


    /**
     * @brief Interface to notify the remote entity of removal of a subscription
     *
     * @param messageName
     *  This represents the uORB message name; This message name should be
     *  globally unique.
     * @return
     *  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.
     */
    virtual int16_t remove_subscription(const char *messageName);

    /**
     * Register Message Handler.  This is internal for the IChannel implementer*
     */
    virtual int16_t register_handler(uORBCommunicator::IChannelRxHandler *handler);


    //=========================================================================
    //     INTERFACES FOR Data messages
    //=========================================================================

    /**
     * @brief Sends the data message over the communication link.
     * @param messageName
     *  This represents the uORB message name; This message name should be
     *  globally unique.
     * @param length
     *  The length of the data buffer to be sent.
     * @param data
     *  The actual data to be sent.
     * @return
     *  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.
     */
    virtual int16_t send_message(const char *messageName, int32_t length, uint8_t *data);


    void Start();
    void Stop();

private: // data members
    static uORB::KraitFastRpcChannel *_InstancePtr;
    uORBCommunicator::IChannelRxHandler *_RxHandler;
    pthread_t   _RecvThread;
    bool _ThreadStarted;
    bool _ThreadShouldExit;

    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;

    struct BulkTransferHeader {
        uint16_t _MsgType;
        uint16_t _MsgNameLen;
        uint16_t _DataLen;
    };

    px4muorb::KraitRpcWrapper _KraitWrapper;

    std::map<std::string, int32_t> _AdspSubscriberCache;
    std::map<std::string, hrt_abstime> _AdspSubscriberSampleTimestamp;
    //hrt_abstime  _SubCacheSampleTimestamp;
    static const hrt_abstime _SubCacheRefreshRate = 1000000; // 1 second;

private://class members.
    /// constructor.
    KraitFastRpcChannel();

    static void  *thread_start(void *handler);

    void fastrpc_recv_thread();

};

#endif /* _uORBKraitFastRpcChannel_hpp_ */