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commit 9ca75e29776d74756ddbd668556aa92c74194604 Author: likun17 <[email protected]> AuthorDate: Mon Apr 1 19:21:58 2024 +0800 uORB: Add topic information acquisition and setting interface. Signed-off-by: likun17 <[email protected]> --- system/uorb/uORB/uORB.c | 12 +++++++++++- system/uorb/uORB/uORB.h | 33 +++++++++++++++++++++++++++++++++ 2 files changed, 44 insertions(+), 1 deletion(-) diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c index 20d6e1157..cf3f70cb8 100644 --- a/system/uorb/uORB/uORB.c +++ b/system/uorb/uORB/uORB.c @@ -257,6 +257,16 @@ int orb_get_interval(int fd, FAR unsigned *interval) return ret; } +int orb_set_info(int fd, FAR const orb_info_t *info) +{ + return ioctl(fd, SNIOC_SET_INFO, (unsigned long)(uintptr_t)info); +} + +int orb_get_info(int fd, FAR orb_info_t *info) +{ + return ioctl(fd, SNIOC_GET_INFO, (unsigned long)(uintptr_t)info); +} + int orb_set_batch_interval(int fd, unsigned batch_interval) { return ioctl(fd, SNIOC_BATCH, (unsigned long)batch_interval); @@ -340,7 +350,7 @@ void orb_info(FAR const char *format, FAR const char *name, vaf.fmt = format; vaf.va = (va_list *)data; - uorbinfo_raw("%s(now:%" PRIu64 "):%pB", name, orb_absolute_time(), &vaf); + uorbinfo_raw("%s(now:%" PRIu64 "):%pB\n", name, orb_absolute_time(), &vaf); } int orb_fprintf(FAR FILE *stream, FAR const char *format, diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h index 0655a1a86..84774d2af 100644 --- a/system/uorb/uORB/uORB.h +++ b/system/uorb/uORB/uORB.h @@ -69,6 +69,7 @@ struct orb_object }; typedef uint64_t orb_abstime; +typedef struct sensor_device_info_s orb_info_t; /**************************************************************************** * Pre-processor Definitions @@ -590,6 +591,38 @@ int orb_set_interval(int fd, unsigned interval); int orb_get_interval(int fd, FAR unsigned *interval); +/**************************************************************************** + * Name: orb_set_info + * + * Description: + * Set topic information. + * + * Input Parameters: + * fd A fd returned from orb_subscribe. + * info Data to be transmitted. + * + * Returned Value: + * 0 on success, -1 otherwise with ERRNO set accordingly. + ****************************************************************************/ + +int orb_set_info(int fd, FAR const orb_info_t *info); + +/**************************************************************************** + * Name: orb_get_info + * + * Description: + * Get topic information. + * + * Input Parameters: + * fd A fd returned from orb_subscribe. + * info The returned topic info. + * + * Returned Value: + * 0 on success, -1 otherwise with ERRNO set accordingly. + ****************************************************************************/ + +int orb_get_info(int fd, FAR orb_info_t *info); + /**************************************************************************** * Name: * orb_set_frequency
