void Domain::checkTransports()
{
// Now update topics with values from the transports and channels
// Loop over all transports and for each topic, see if it needs parameters from the channel
for (unsigned int i = 0; i < transports.size(); i++) {
// Get channel
Channel* channel = findChannel(transports[i]->channelID);
if (channel == NULL) {
throw ops::ConfigException(
std::string("Non existing channelID: '") + transports[i]->channelID +
std::string("' used in transport spcification."));
} else {
for (unsigned int j = 0; j < transports[i]->topics.size(); j++) {
Topic* top = findTopic(transports[i]->topics[j]);
if (top == NULL) {
throw ops::ConfigException(
std::string("Non existing topicID: '") + transports[i]->topics[j] +
std::string("' used in transport spcification."));
} else {
channel->populateTopic(top);
}
}
}
}
}
orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
int priority, unsigned int queue_size)
{
#ifdef ORB_USE_PUBLISHER_RULES
// check publisher rule
if (_has_publisher_rules) {
const char *prog_name = px4_get_taskname();
if (strcmp(_publisher_rule.module_name, prog_name) == 0) {
if (_publisher_rule.ignore_other_topics) {
if (!findTopic(_publisher_rule, meta->o_name)) {
PX4_DEBUG("not allowing %s to publish topic %s", prog_name, meta->o_name);
return (orb_advert_t)_Instance;
}
}
} else {
if (findTopic(_publisher_rule, meta->o_name)) {
PX4_DEBUG("not allowing %s to publish topic %s", prog_name, meta->o_name);
return (orb_advert_t)_Instance;
}
}
}
#endif /* ORB_USE_PUBLISHER_RULES */
int result, fd;
orb_advert_t advertiser;
/* open the node as an advertiser */
fd = node_open(meta, data, true, instance, priority);
if (fd == PX4_ERROR) {
PX4_ERR("%s advertise failed", meta->o_name);
return nullptr;
}
/* Set the queue size. This must be done before the first publication; thus it fails if
* this is not the first advertiser.
*/
result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
if (result < 0 && queue_size > 1) {
PX4_WARN("orb_advertise_multi: failed to set queue size");
}
/* get the advertiser handle and close the node */
result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
px4_close(fd);
if (result == PX4_ERROR) {
PX4_WARN("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
return nullptr;
}
#ifdef ORB_COMMUNICATOR
// For remote systems call over and inform them
uORB::DeviceNode::topic_advertised(meta, priority);
#endif /* ORB_COMMUNICATOR */
/* the advertiser must perform an initial publish to initialise the object */
result = orb_publish(meta, advertiser, data);
if (result == PX4_ERROR) {
PX4_WARN("orb_publish failed");
return nullptr;
}
return advertiser;
}
