uorb.cpp
3.56 KB
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <string.h>
#include <uORB/uORB.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
static void usage();
int uorb_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
return -1;
}
if (!strcmp(argv[1], "start")) {
return uorb_start();
} else if (!strcmp(argv[1], "status")) {
return uorb_status();
} else if (!strcmp(argv[1], "top")) {
return uorb_top(argv + 2, argc - 2);
}
usage();
return 0;
}
void usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
uORB is the internal pub-sub messaging system, used for communication between modules.
### Implementation
The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa.
This is achieved by having a separate buffer between a publisher and a subscriber.
The code is optimized to minimize the memory footprint and the latency to exchange messages.
Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time.
If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which
modules are allowed to publish which topics. This is used for system-wide replay.
### Examples
Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:
$ uorb top
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("uorb", "communication");
PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print topic statistics");
PRINT_MODULE_USAGE_COMMAND_DESCR("top", "Monitor topic publication rates");
PRINT_MODULE_USAGE_PARAM_FLAG('a', "print all instead of only currently publishing topics with subscribers", true);
PRINT_MODULE_USAGE_PARAM_FLAG('1', "run only once, then exit", true);
PRINT_MODULE_USAGE_ARG("<filter1> [<filter2>]", "topic(s) to match (implies -a)", true);
}