API for the uORB lightweight object broker. More...

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>

Classes
struct	orb_metadata
	Object metadata. More...

Macros
#define	ORB_MULTI_MAX_INSTANCES 4
	Maximum number of multi topic instances.

#define	ORB_ID(_name) &__orb_##_name
	Generates a pointer to the uORB metadata structure for a given topic. More...

#define	ORB_DECLARE(_name) extern const struct orb_metadata __orb_##_name __EXPORT
	Declare (prototype) the uORB metadata for a topic (used by code generators). More...

#define	ORB_DEFINE(_name, _struct, _size_no_padding, _fields)
	Define (instantiate) the uORB metadata for a topic. More...

#define	ORB_ID_VEHICLE_ATTITUDE_CONTROLS ORB_ID(actuator_controls_0)

Typedefs
typedef const struct orb_metadata *	orb_id_t

typedef uint8_t	arming_state_t

typedef uint8_t	main_state_t

typedef uint8_t	hil_state_t

typedef uint8_t	navigation_state_t

typedef uint8_t	switch_pos_t

Enumerations
enum	ORB_PRIO { ORB_PRIO_MIN = 1, ORB_PRIO_VERY_LOW = 25, ORB_PRIO_LOW = 50, ORB_PRIO_DEFAULT = 75, ORB_PRIO_HIGH = 100, ORB_PRIO_VERY_HIGH = 125, ORB_PRIO_MAX = 255 }
	Topic priority. More...

Functions
orb_advert_t	orb_advertise (const struct orb_metadata meta, const void data) __EXPORT

orb_advert_t	orb_advertise_queue (const struct orb_metadata meta, const void data, unsigned int queue_size) __EXPORT

orb_advert_t	orb_advertise_multi (const struct orb_metadata meta, const void data, int *instance, int priority) __EXPORT

orb_advert_t	orb_advertise_multi_queue (const struct orb_metadata meta, const void data, int *instance, int priority, unsigned int queue_size) __EXPORT

int	orb_unadvertise (orb_advert_t handle) __EXPORT

int	orb_publish (const struct orb_metadata meta, orb_advert_t handle, const void data) __EXPORT

int	orb_subscribe (const struct orb_metadata *meta) __EXPORT

int	orb_subscribe_multi (const struct orb_metadata *meta, unsigned instance) __EXPORT

int	orb_unsubscribe (int handle) __EXPORT

int	orb_copy (const struct orb_metadata meta, int handle, void buffer) __EXPORT

int	orb_check (int handle, bool *updated) __EXPORT

int	orb_stat (int handle, uint64_t *time) __EXPORT

int	orb_exists (const struct orb_metadata *meta, int instance) __EXPORT

int	orb_group_count (const struct orb_metadata *meta) __EXPORT
	Get the number of published instances of a topic group. More...

int	orb_priority (int handle, int32_t *priority) __EXPORT

int	orb_set_interval (int handle, unsigned interval) __EXPORT

int	orb_get_interval (int handle, unsigned *interval) __EXPORT

Variables
__BEGIN_DECLS typedef void *	orb_advert_t
	ORB topic advertiser handle. More...

Detailed Description

API for the uORB lightweight object broker.

Macro Definition Documentation

§ ORB_DECLARE

#define ORB_DECLARE ( _name ) extern const struct orb_metadata __orb_##_name __EXPORT

Declare (prototype) the uORB metadata for a topic (used by code generators).

Parameters

_name The name of the topic.

§ ORB_DEFINE

#define ORB_DEFINE	(	_name,
		_struct,
		_size_no_padding,
		_fields
	)

Value:

const struct orb_metadata __orb_##_name = { \
        #_name,                 \
        sizeof(_struct),        \
        _size_no_padding,           \
        _fields                 \
    }; struct hack

Define (instantiate) the uORB metadata for a topic.

The uORB metadata is used to help ensure that updates and copies are accessing the right data.

Note that there must be no more than one instance of this macro for each topic.

Parameters

_name	The name of the topic.
_struct	The structure the topic provides.
_size_no_padding	Struct size w/o padding at the end
_fields	All fields in a semicolon separated list e.g: "float[3] position;bool armed"

§ ORB_ID

#define ORB_ID ( _name ) &__orb_##_name

Generates a pointer to the uORB metadata structure for a given topic.

The topic must have been declared previously in scope with ORB_DECLARE().

Parameters

_name The name of the topic.

Enumeration Type Documentation

§ ORB_PRIO

enum ORB_PRIO

Topic priority.

Relevant for multi-topics / topic groups

Function Documentation

§ orb_advertise()

orb_advert_t orb_advertise	(	const struct orb_metadata *	meta,
		const void *	data
	)

See also: uORB::Manager::orb_advertise()

§ orb_advertise_multi()

orb_advert_t orb_advertise_multi	(	const struct orb_metadata *	meta,
		const void *	data,
		int *	instance,
		int	priority
	)

See also: uORB::Manager::orb_advertise_multi()

§ orb_advertise_multi_queue()

orb_advert_t orb_advertise_multi_queue	(	const struct orb_metadata *	meta,
		const void *	data,
		int *	instance,
		int	priority,
		unsigned int	queue_size
	)

See also: uORB::Manager::orb_advertise_multi()

§ orb_advertise_queue()

orb_advert_t orb_advertise_queue	(	const struct orb_metadata *	meta,
		const void *	data,
		unsigned int	queue_size
	)

See also: uORB::Manager::orb_advertise()

§ orb_check()

int orb_check	(	int	handle,
		bool *	updated
	)

See also: uORB::Manager::orb_check()

§ orb_copy()

int orb_copy	(	const struct orb_metadata *	meta,
		int	handle,
		void *	buffer
	)

See also: uORB::Manager::orb_copy()

§ orb_exists()

int orb_exists	(	const struct orb_metadata *	meta,
		int	instance
	)

See also: uORB::Manager::orb_exists()

§ orb_get_interval()

int orb_get_interval	(	int	handle,
		unsigned *	interval
	)

See also: uORB::Manager::orb_get_interval()

§ orb_group_count()

int orb_group_count ( const struct orb_metadata * meta )

Get the number of published instances of a topic group.

Parameters

meta	ORB topic metadata.

Returns: The number of published instances of this topic

§ orb_priority()

int orb_priority	(	int	handle,
		int32_t *	priority
	)

See also: uORB::Manager::orb_priority()

§ orb_publish()

int orb_publish	(	const struct orb_metadata *	meta,
		orb_advert_t	handle,
		const void *	data
	)

See also: uORB::Manager::orb_publish()

§ orb_set_interval()

int orb_set_interval	(	int	handle,
		unsigned	interval
	)

See also: uORB::Manager::orb_set_interval()

§ orb_stat()

int orb_stat	(	int	handle,
		uint64_t *	time
	)

See also: uORB::Manager::orb_stat()

§ orb_subscribe()

int orb_subscribe ( const struct orb_metadata * meta )

See also: uORB::Manager::orb_subscribe()

§ orb_subscribe_multi()

int orb_subscribe_multi	(	const struct orb_metadata *	meta,
		unsigned	instance
	)

See also: uORB::Manager::orb_subscribe_multi()

§ orb_unadvertise()

int orb_unadvertise ( orb_advert_t handle )

See also: uORB::Manager::orb_unadvertise()

§ orb_unsubscribe()

int orb_unsubscribe ( int handle )

See also: uORB::Manager::orb_unsubscribe()

Variable Documentation

§ orb_advert_t

__BEGIN_DECLS typedef void* orb_advert_t

ORB topic advertiser handle.

Advertiser handles are global; once obtained they can be shared freely and do not need to be closed or released.

This permits publication from interrupt context and other contexts where a file-descriptor-based handle would not otherwise be in scope for the publisher.

Classes

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

§ ORB_DECLARE

§ ORB_DEFINE

§ ORB_ID

Enumeration Type Documentation

§ ORB_PRIO

Function Documentation

§ orb_advertise()

§ orb_advertise_multi()

§ orb_advertise_multi_queue()

§ orb_advertise_queue()

§ orb_check()

§ orb_copy()

§ orb_exists()

§ orb_get_interval()

§ orb_group_count()

§ orb_priority()

§ orb_publish()

§ orb_set_interval()

§ orb_stat()

§ orb_subscribe()

§ orb_subscribe_multi()

§ orb_unadvertise()

§ orb_unsubscribe()

Variable Documentation

§ orb_advert_t