void *LogWriter::run_helper(void *context)
{
px4_prctl(PR_SET_NAME, "log_writer", px4_getpid());
reinterpret_cast<LogWriter *>(context)->run();
return nullptr;
}
int
uORB::DeviceNode::close(device::file_t *filp)
{
//warnx("uORB::DeviceNode::close fd = %d", filp->fd);
/* is this the publisher closing? */
if (px4_getpid() == _publisher) {
_publisher = 0;
} else {
SubscriberData *sd = filp_to_sd(filp);
if (sd != nullptr) {
hrt_cancel(&sd->update_call);
remove_internal_subscriber();
delete sd;
sd = nullptr;
}
}
return VDev::close(filp);
}
int
uORB::DeviceNode::open(device::file_t *filp)
{
int ret;
/* is this a publisher? */
if (filp->flags == PX4_F_WRONLY) {
/* become the publisher if we can */
lock();
if (_publisher == 0) {
_publisher = px4_getpid();
ret = PX4_OK;
} else {
ret = -EBUSY;
}
unlock();
/* now complete the open */
if (ret == PX4_OK) {
ret = VDev::open(filp);
/* open failed - not the publisher anymore */
if (ret != PX4_OK) {
_publisher = 0;
}
}
return ret;
}
/* is this a new subscriber? */
if (filp->flags == PX4_F_RDONLY) {
/* allocate subscriber data */
SubscriberData *sd = new SubscriberData;
if (nullptr == sd) {
return -ENOMEM;
}
memset(sd, 0, sizeof(*sd));
/* default to no pending update */
sd->generation = _generation;
/* set priority */
sd->priority = _priority;
filp->priv = (void *)sd;
ret = VDev::open(filp);
add_internal_subscriber();
if (ret != PX4_OK) {
warnx("ERROR: VDev::open failed\n");
delete sd;
}
//warnx("uORB::DeviceNode::Open: fd = %d flags = %d, priv = %p cdev = %p\n", filp->fd, filp->flags, filp->priv, filp->cdev);
return ret;
}
/* can only be pub or sub, not both */
return -EINVAL;
}
int
uORB::DeviceNode::open(cdev::file_t *filp)
{
int ret;
/* is this a publisher? */
if (FILE_FLAGS(filp) == PX4_F_WRONLY) {
/* become the publisher if we can */
lock();
if (_publisher == 0) {
_publisher = px4_getpid();
ret = PX4_OK;
} else {
ret = -EBUSY;
}
unlock();
/* now complete the open */
if (ret == PX4_OK) {
ret = CDev::open(filp);
/* open failed - not the publisher anymore */
if (ret != PX4_OK) {
_publisher = 0;
}
}
return ret;
}
/* is this a new subscriber? */
if (FILE_FLAGS(filp) == PX4_F_RDONLY) {
/* allocate subscriber data */
SubscriberData *sd = new SubscriberData{};
if (nullptr == sd) {
return -ENOMEM;
}
/* If there were any previous publications, allow the subscriber to read them */
sd->generation = _generation - (_queue_size < _generation ? _queue_size : _generation);
/* set priority */
sd->set_priority(_priority);
FILE_PRIV(filp) = (void *)sd;
ret = CDev::open(filp);
add_internal_subscriber();
if (ret != PX4_OK) {
PX4_ERR("CDev::open failed");
delete sd;
}
return ret;
}
if (FILE_FLAGS(filp) == 0) {
return CDev::open(filp);
}
/* can only be pub or sub, not both */
return -EINVAL;
}
