px4muorb Interface Reference

Classes
class	KraitRpcWrapper

Public Member Functions
AEEResult	orb_initialize ()
	interface method to start the uorb service and initialize the muorb
AEEResult	set_absolute_time_offset (in long time_diff_us)
	Interface to set an offset to hrt_absolute_time on the DSP. More...
AEEResult	get_absolute_time (rout unsigned long long time_us)
	Interface to request hrt_absolute_time on the DSP. More...
AEEResult	param_update_to_shmem (in unsigned long param, in sequence< octet > value)
	Interface to update param for krait. More...
AEEResult	param_update_index_from_shmem (rout sequence< octet > data)
	Interface to update index for krait. More...
AEEResult	param_update_value_from_shmem (in unsigned long param, rout sequence< octet > value)
	Interface to get param value for krait. More...
AEEResult	topic_advertised (in string topic_name)
	Interface called from krait to inform of a published topic. More...
AEEResult	topic_unadvertised (in string topic_name)
	Interface called from krait to inform of a published topic. More...
AEEResult	add_subscriber (in string topic_name)
	Interface to add a subscriber to the identified topic. More...
AEEResult	remove_subscriber (in string topic_name)
	Interface to remove a subscriber for the identified topic. More...
AEEResult	send_topic_data (in string topic_name, in sequence< octet > data)
	Interface called from krait for topic data. More...
AEEResult	is_subscriber_present (in string topic_name, rout long status)
	Inteface to check if there are subscribers on the remote adsp client This inteface is required as the krait app can be restarted without adsp being re-started. More...
AEEResult	receive_msg (rout long msg_type, rout string topic_name, rout sequence< octet > data, rout long bytes_returned)
	Interface to receive data from adsp. More...
AEEResult	unblock_recieve_msg ()
	Since the receive_msg is a blocking call, the client will not be able to peform a clean shutdown. More...
AEEResult	receive_bulk_data (rout sequence< octet > data, rout long bytes_returned, rout long topic_count)
	This interface will perform a bulk read from the adsp and return the data buffer. More...

Member Function Documentation

add_subscriber()

AEEResult px4muorb::add_subscriber

(

in string

topic_name

)

Interface to add a subscriber to the identified topic.

Parameters

topic_name

Returns

status 0 == success all others is a failure.

get_absolute_time()

AEEResult px4muorb::get_absolute_time

(

rout unsigned long long

time_us

)

Interface to request hrt_absolute_time on the DSP.

Parameters

time_us

pointer to time in us

is_subscriber_present()

AEEResult px4muorb::is_subscriber_present	(	in string	topic_name,
		rout long	status
	)

Inteface to check if there are subscribers on the remote adsp client This inteface is required as the krait app can be restarted without adsp being re-started.

In this scenario the krait app does not know if there is subscriber on the remote end(ie adsp).

Parameters

topic_name	The name of the topic for which the subscription needs to be checked.
rout	int status The status of the subscription, 0=no-subscribers, 1 = more than one subscriber.

Returns

status 0 == success all others is a failure.

param_update_index_from_shmem()

AEEResult px4muorb::param_update_index_from_shmem

(

rout sequence< octet >

data

)

Interface to update index for krait.

Parameters

data	param index array.

param_update_to_shmem()

AEEResult px4muorb::param_update_to_shmem	(	in unsigned long	param,
		in sequence< octet >	value
	)

Interface to update param for krait.

Parameters

param	param index.
value	param value.

param_update_value_from_shmem()

AEEResult px4muorb::param_update_value_from_shmem	(	in unsigned long	param,
		rout sequence< octet >	value
	)

Interface to get param value for krait.

Parameters

param	param index.
value	param value.

receive_bulk_data()

AEEResult px4muorb::receive_bulk_data	(	rout sequence< octet >	data,
		rout long	bytes_returned,
		rout long	topic_count
	)

This interface will perform a bulk read from the adsp and return the data buffer.

The structure of the messages is as follows +-------------—+--------—+------------—+-------—+-------------—+ | Topic Name Len | datal_len |TopicName(nullterminated) | data bytes | +-------------—+--------—+------------—+-------—+-------------—+ |<– 2 bytes –>|<-2bytes-> |<– topicnamelen bytes –>|<-datalenbytes->| +-------------—+------------------------—+-------—+-------------—+

Parameters

data	The output buffer where the data needs to be copied
bytes_returned	The number of bytes the buffer is filled up by.
topic_count	The numbe of topics filled in the buffer.

Returns

status 0 = success all others is a failure.

receive_msg()

AEEResult px4muorb::receive_msg	(	rout long	msg_type,
		rout string	topic_name,
		rout sequence< octet >	data,
		rout long	bytes_returned
	)

Interface to receive data from adsp.

Since there is only one interface, the different message types are identified by the msg_type field.

Parameters

msg_type

The possible values are: 1 ==> add_subscriber 2 ==> remove_subscriber 3 ==> recieve_topic_data 4 ==> advertised_topic

Note

: for message types, 1 & 2, the data pointer returned is null with length of 0.

Parameters

topic_name	The topic being returned.
data	the data stream
bytes_returned	The number of bytes returned in the byte buffer.

Returns

status 0 == success all others is a failure.

remove_subscriber()

AEEResult px4muorb::remove_subscriber

(

in string

topic_name

)

Interface to remove a subscriber for the identified topic.

Parameters

topic_name

Returns

status 0 == success all others is a failure.

send_topic_data()

AEEResult px4muorb::send_topic_data	(	in string	topic_name,
		in sequence< octet >	data
	)

Interface called from krait for topic data.

Parameters

topic_name
data	a sequence of bytes for the passed data stream. as per the HExagon Documention, the max size of this stream is 255 bytes.

Returns

status 0 == success all others is a failure.

set_absolute_time_offset()

AEEResult px4muorb::set_absolute_time_offset

(

in long

time_diff_us

)

Interface to set an offset to hrt_absolute_time on the DSP.

Parameters

time_diff_us

time difference of the DSP clock to Linux clock. A positive number means the Linux clock is ahead of the DSP one.

topic_advertised()

AEEResult px4muorb::topic_advertised

(

in string

topic_name

)

Interface called from krait to inform of a published topic.

Parameters

topic_name

name of the topic being advertised

topic_unadvertised()

AEEResult px4muorb::topic_unadvertised

(

in string

topic_name

)

Interface called from krait to inform of a published topic.

Parameters

topic_name

name of the topic being advertised

unblock_recieve_msg()

AEEResult px4muorb::unblock_recieve_msg

(

)

Since the receive_msg is a blocking call, the client will not be able to peform a clean shutdown.

Calling this function will unblock the receive msg an return an error code. Ideally this should be implemented as a timeout for the receive_msg call.

Parameters

none

Returns

status 0 = success all others is a failure.

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The documentation for this interface was generated from the following file:

• platforms/qurt/px4muorb.idl