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Merged
acassis merged 20 commits into from
Jul 23, 2022
Merged

system/uorb: support uorb, include uorb wraper, unit test, uorb_listener, topic definition #1230

acassis merged 20 commits into from
Jul 23, 2022

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@Donny9
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@Donny9 Donny9 commented Jul 22, 2022

Summary

system/uorb: support uorb, include uorb wraper, unit test, uorb_listener, topic definition

refer to: https://docs.px4.io/v1.12/en/middleware/uorb.html
uORB comes from the open source flight control PX4, is the internal pub-sub messaging system, used for communication between modules.

About original uORB implementation:

  • No thread or work queue is needed, the module start only makes sure to initialize the shared global state.
  • Communication is done via shared memory.
  • 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.

About uORB shortcoming:

  • The internal driver of uorb is implemented in user space and cannot run in kernel mode.
  • Uorb is developed in C++ language, and the integration needs to rely on libc++, which is not good for embedded devices with limited resources.
  • There is no relationship between the subscriber and the publisher, and it is impossible to control the publisher according to the status of the subscriber, which is required in many cases.For example, to control whether to open it according to the subscription of the sensor.
  • For weaker sampling support, there is a cumulative error.

For the original design, vela has been enhanced：

  • Enhanced nuttx sensor driver framework, adapted to uorb cdev function.
  • Use c language to implement uorb upper wrapper.
  • The interaction between subscribers and publishers is completed through event POLLPRI, making the whole framework more intelligent.
  • By working with sensor rpmsg, you can subscribe to multi-core topics transparently and without any sense, make the whole system configuration more flexible.
  • Change all interfaces of uorb to file descriptor operations to simplify usage.
  • Keep most of the test cases and test tools with the original uorb.

Impact

Support uorb middleware

Testing

Vela CI

@jihandong @Donny9
apps/system/uorb: c interfaces.
b168d02 
refer to: https://docs.px4.io/v1.12/en/middleware/uorb.html

- orb_open: do real work for advertise() and subscribe(), if thre is
            no user, register topic first, then save meta in driver;
            only first user can successfully set buffer number.
- orb_exists: check topic state, if topic only has subscribers,
	      return "not exists".

Signed-off-by: jihandong <jihandong@xiaomi.com>
This was referenced Jul 22, 2022
Merged
Merged
jihandong and others added 19 commits July 22, 2022 08:12
@jihandong @Donny9
apps/system/uorb: c unit testcases
cdda4b7 
testcases:
1. test_single(): single instance, advertise then subscribe.
2. test_multi_inst10(): 10 instance, each 1 subscriber.
3. test_multi(): 2 instances, 2 advertisers, 2 subscribers.
4. test_multi_reversed(): same as test_multi(), but subsribe before
		          advertise.
5. test_unadvertise(): unadvertise upper 4 advertisers.
6. test_multi2(): same as tset_multi(). but multi-thread.
7, test_queue():  topic queue_size = 16.

Signed-off-by: jihandong <jihandong@xiaomi.com>
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@Donny9
system/uorb: add builtin sensor topics
2b92148 
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@Donny9
apps/system/uorb: support orb_get_meta by name string
f43cd4a 
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@jihandong @Donny9
system/uorb: listener, has 'top' command.
b8623e8 
Listener can scan device under ORB_SENSOR_PATH, subscribe them and
cotinue printing messages by call their cb.

'-T' can Continuously print updating objects, '-l' means only
print once.

Signed-off-by: jihandong <jihandong@xiaomi.com>
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@Donny9
system/uorb: optimize stack used
35f42a7 
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@Donny9
uorb_unit_test: optimize stack used
9cb3014 
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@Donny9
uorb/listener: add new api: orb_open and orb_close
341b563 
don't using subscriber to get state to avoid rpmsg access

Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@Donny9
system/uorb: always let orb_advertise, orb_advertise_queue for instan…
53c4a86 
…ce 0

1.orb_advertise, orb_advertise_queue for instance 0
2.orb_advertise_multi, orb_advertise__multi_queue for specified instance
3.If orb_advertise_multi_queue with instance is NULL, auto increase
instance from existing base.

Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@Donny9
uorb_listener: support subscribe physical sensor before node register
99c68df 
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@jihandong @Donny9
app/system/uorb: alloc on heap instead of stack.
1879317 
Signed-off-by: jihandong <jihandong@xiaomi.com>
@Donny9
apps/uorb: fix compile break
f8618d8 
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@Donny9
uorb_listener: support set batch latency
3c6b71d 
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@GUIDINGLI @Donny9
uorb: use another writing method to avoid compiler bug
0dfc19e 
int func(int b)
{
    int a;

    while (1) {
        ...;

        if (b != 0)
            a = 1000 / b;

        ...;
    }
}

if b == 0, then system crash in Xtensa arch, clang compiler

Signed-off-by: ligd <liguiding1@xiaomi.com>
@Donny9
system/uorb: support new api
70780a0 
orb_advertise_multi_queue_persist

Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@jihandong @Donny9
app/system/uorb: fix listener run_once not work.
672e15d 
And remove dead code.

Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@jihandong @Donny9
app/system/uorb: modify unit test to support data persist
caedb1e 
Signed-off-by: jihandong <jihandong@xiaomi.com>
@jihandong @Donny9
uorb/listener: ignore first get_state failed.
3db073e 
Signed-off-by: jihandong <jihandong@xiaomi.com>
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@Donny9
system/uorb: simply orb_check by SNIOC_UPDATED
adf795b 
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
@jihandong @Donny9
app/system/uorb: fix error, memset() wrong size.
5d81034 
Signed-off-by: jihandong <jihandong@xiaomi.com>
@acassis acassis merged commit 74af9a8 into apache:master Jul 23, 2022
xiaoxiang781216
xiaoxiang781216 reviewed Jul 24, 2022
View reviewed changes
system/uorb/uORB/uORB.c

ret = ioctl(fd, SNIOC_REGISTER, (unsigned long)(uintptr_t)&reginfo);
close(fd);
if (ret < 0 && ret != -EEXIST)
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@xiaoxiang781216 xiaoxiang781216 Jul 24, 2022

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check errno instead

system/uorb/uORB/uORB.c
if (first_open)
{
ioctl(fd, SNIOC_SET_USERPRIV, (unsigned long)(uintptr_t)meta);
if (ret != -EEXIST)
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use errno instead

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5 participants

@Donny9 @xiaoxiang781216 @acassis @jihandong @GUIDINGLI