Per-object device instance. More...

#include <uORBDeviceNode.hpp>

Inheritance diagram for uORB::DeviceNode:

Public Member Functions
	DeviceNode (const struct orb_metadata meta, const uint8_t instance, const char path, uint8_t priority, uint8_t queue_size=1)

	DeviceNode (const DeviceNode &)=delete

DeviceNode &	operator= (const DeviceNode &)=delete

	DeviceNode (DeviceNode &&)=delete

DeviceNode &	operator= (DeviceNode &&)=delete

int	open (cdev::file_t *filp) override
	Method to create a subscriber instance and return the struct pointing to the subscriber as a file pointer.

int	close (cdev::file_t *filp) override
	Method to close a subscriber for this topic.

ssize_t	read (cdev::file_t filp, char buffer, size_t buflen) override
	reads data from a subscriber node to the buffer provided. More...

ssize_t	write (cdev::file_t filp, const char buffer, size_t buflen) override
	writes the published data to the internal buffer to be read by subscribers later. More...

int	ioctl (cdev::file_t *filp, int cmd, unsigned long arg) override
	IOCTL control for the subscriber.

void	add_internal_subscriber ()
	Add the subscriber to the node's list of subscriber. More...

void	remove_internal_subscriber ()
	Removes the subscriber from the list. More...

bool	is_published () const
	Return true if this topic has been published. More...

int	update_queue_size (unsigned int queue_size)
	Try to change the size of the queue. More...

bool	print_statistics (bool reset)
	Print statistics (nr of lost messages) More...

uint8_t	get_queue_size () const

int8_t	subscriber_count () const

uint32_t	lost_message_count () const

unsigned	published_message_count () const

const orb_metadata *	get_meta () const

const char *	get_name () const

uint8_t	get_instance () const

int	get_priority () const

void	set_priority (uint8_t priority)

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

virtual int	init ()

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Public Member Functions inherited from ListNode< uORB::DeviceNode *>
void	setSibling (uORB::DeviceNode * sibling)

const uORB::DeviceNode *	getSibling () const

Static Public Member Functions
static ssize_t	publish (const orb_metadata meta, orb_advert_t handle, const void data)
	Method to publish a data to this node.

static int	unadvertise (orb_advert_t handle)

Protected Member Functions
pollevent_t	poll_state (cdev::file_t *filp) override
	Check the current state of the device for poll events from the perspective of the file. More...

void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events) override
	Internal implementation of poll_notify. More...

Protected Member Functions inherited from cdev::CDev
virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock.

Additional Inherited Members
Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes)

Protected Attributes inherited from ListNode< uORB::DeviceNode *>
uORB::DeviceNode *	_sibling

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc.

Detailed Description

Per-object device instance.

Member Function Documentation

§ add_internal_subscriber()

void uORB::DeviceNode::add_internal_subscriber ( )

Add the subscriber to the node's list of subscriber.

If there is remote proxy to which this subscription needs to be sent, it will done via uORBCommunicator::IChannel interface.

Parameters

sd	the subscriber to be added.

§ is_published()

bool uORB::DeviceNode::is_published ( ) const

inline

Return true if this topic has been published.

This is used in the case of multi_pub/sub to check if it's valid to advertise and publish to this node or if another node should be tried.

§ poll_notify_one()

void uORB::DeviceNode::poll_notify_one	(	px4_pollfd_struct_t *	fds,
		pollevent_t	events
	)

overrideprotectedvirtual

Internal implementation of poll_notify.

Parameters

fds	A poll waiter to notify.
events	The event(s) to send to the waiter.

Reimplemented from cdev::CDev.

§ poll_state()

pollevent_t uORB::DeviceNode::poll_state ( cdev::file_t * filep )

overrideprotectedvirtual

Check the current state of the device for poll events from the perspective of the file.

This function is called by the default poll() implementation when a poll is set up to determine whether the poll should return immediately.

The default implementation returns no events.

Parameters

filep The file that's interested.

Returns: The current set of poll events.

Reimplemented from cdev::CDev.

§ print_statistics()

bool uORB::DeviceNode::print_statistics ( bool reset )

Print statistics (nr of lost messages)

Parameters

reset if true, reset statistics afterwards

Returns: true if printed something, false otherwise (if no lost messages)

§ read()

ssize_t uORB::DeviceNode::read	(	cdev::file_t *	filp,
		char *	buffer,
		size_t	buflen
	)

overridevirtual

reads data from a subscriber node to the buffer provided.

Parameters

filp	The subscriber from which the data needs to be read from.
buffer	The buffer into which the data is read into.
buflen	the length of the buffer

Returns: ssize_t the number of bytes read.

Reimplemented from cdev::CDev.

§ remove_internal_subscriber()

void uORB::DeviceNode::remove_internal_subscriber ( )

Removes the subscriber from the list.

Also notifies the remote if there a uORBCommunicator::IChannel instance.

Parameters

sd	the Subscriber to be removed.

§ update_queue_size()

int uORB::DeviceNode::update_queue_size ( unsigned int queue_size )

Try to change the size of the queue.

This can only be done as long as nobody published yet. This is the case, for example when orb_subscribe was called before an orb_advertise. The queue size can only be increased.

Parameters

queue_size new size of the queue

Returns: PX4_OK if queue size successfully set

§ write()

ssize_t uORB::DeviceNode::write	(	cdev::file_t *	filp,
		const char *	buffer,
		size_t	buflen
	)

overridevirtual

writes the published data to the internal buffer to be read by subscribers later.

Parameters

filp	the subscriber; this is not used.
buffer	The buffer for the input data
buflen	the length of the buffer.

Returns: ssize_t The number of bytes that are written

Reimplemented from cdev::CDev.

The documentation for this class was generated from the following files:

src/modules/uORB/uORBDeviceNode.hpp
src/modules/uORB/uORBDeviceNode.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

§ add_internal_subscriber()

§ is_published()

§ poll_notify_one()

§ poll_state()

§ print_statistics()

§ read()

§ remove_internal_subscriber()

§ update_queue_size()

§ write()