Pixhawk学习2——uORB微对象请求代理及规则

在Pixhawk中，所有的功能被独立以进程模块为单位进行实现并工作。而每个进程模块都有一个（或多个？）主题信息topic（topic可以在Firmware/msg里查看到所有的可使用的）。所有的进程进行数据交互，其实就是将这些topic扔在一个市场上供大家选取。而uORB(Micro Object Request Broker,微对象请求代理器)就是这个市场。uORB在Pixhawk系统中肩负了整个系统的数据传输任务，所有的传感器信息或者中间计算量得到之后都通过UORB进行传输。

uORB的规则如下：
对应uORB的话题发布者：公告(advertise) + 发布(publish)；
对于uORB的话题接收者：订阅(subscribe) + 查询(poll阻塞式等待或check更新) + 复制(copy)。

以Pixhawk中提供的例子为例（src/examples/px4_simple_app），利用对程序的注释，详细说明以上规则。

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/**
 * @file px4_simple_app.c
 * Minimal application example for PX4 autopilot
 *
 * @author Example User <mail@example.com>
 */

#include <px4_config.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <string.h>

#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>

__EXPORT int px4_simple_app_main(int argc, char *argv[]);

int px4_simple_app_main(int argc, char *argv[])
{
	PX4_INFO("Hello Sky!");

	/* subscribe to sensor_combined topic  */
	/* 订阅 一个sensor_combined （传感器——联合）主题*/
	int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
		/* 
			sensor_combined 为所要订阅信息的ID，所有能够被订阅的信息ID都在Firmware/msg中能看到
		   	sensor_sub_fd 为订阅函数的返回值，有以下几种情况：
		   		1：错误则返回ERROR;
		   		2：成功则返回一个可以读取数据、更新话题的句柄；
		   		3：如果待订阅的主题没有定义或声明则会返回-1
		*/
	/* limit the update rate to 5 Hz*/
	/* 限制更新频率为5HZ */
	orb_set_interval(sensor_sub_fd, 200);

	/* advertise attitude topic*/
	/* 定义结构体，表示广播信息 */
	struct vehicle_attitude_s att;
	memset(&att, 0, sizeof(att));  // 申请内存并初始化
	
	/* 广播（公告）信息*/
	orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
		/*
			 vehicle_attitude为要广播的信息ID；
			 att为实际要广播的信息；
			 att_pub为返回的对象指针,有以下几种情况：
		   		1：错误则返回ERROR;
		   		2：成功则返回一个可以读取数据、更新话题的句柄；
		   		3：如果待广播的主题没有定义或声明则会返回-1
		*/

	/* one could wait for multiple topics with this technique, just using one here */
	px4_pollfd_struct_t fds[] = {
		{ .fd = sensor_sub_fd,   .events = POLLIN },
		/* there could be more file descriptors here, in the form like:
		 * { .fd = other_sub_fd,   .events = POLLIN },
		 */
	};

	int error_counter = 0;

	/*×××××××××××××××××××检测更新 阻塞等待x××××××××××××××××××*/

	for (int i = 0; i < 5; i++) {
		/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
		/*阻塞等待函数，时间为1s*/
		int poll_ret = px4_poll(fds, 1, 1000);
			/*
				该函数返回值有几种情况：
					大于0：表示等到数据更新；
					等于0：表示没有等到数据更新，
					小于0则表示发生错误。
			*/

		/* handle the poll result */
		/* 根据返回值进行数据处理*/
		if (poll_ret == 0) {
			/* this means none of our providers is giving us data */
			PX4_ERR("Got no data within a second");

		} else if (poll_ret < 0) {
			/* this is seriously bad - should be an emergency */
			if (error_counter < 10 || error_counter % 50 == 0) {
				/* use a counter to prevent flooding (and slowing us down) */
				PX4_ERR("ERROR return value from poll(): %d", poll_ret);
			}

			error_counter++;

		} else { // 表示数据有更新

			if (fds[0].revents & POLLIN) {
				/* obtained data for the first file descriptor */
				struct sensor_combined_s raw;
				/* copy sensors raw data into local buffer*/
				/*  复制出原始数据 */
				orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
					/*  
						sensor_combined为所要复制的主题ID；
						sensor_sub_fd文件描述符（订阅返回值）；
						raw为需要复制的缓存地址)。
					*/
				PX4_INFO("Accelerometer:\t%8.4f\t%8.4f\t%8.4f",  // PX4——INFO类似于C语言的printf 函数
					 (double)raw.accelerometer_m_s2[0],
					 (double)raw.accelerometer_m_s2[1],
					 (double)raw.accelerometer_m_s2[2]);

				/* set att and publish this information for other apps
				 the following does not have any meaning, it's just an example
				*/
				att.q[0] = raw.accelerometer_m_s2[0];
				att.q[1] = raw.accelerometer_m_s2[1];
				att.q[2] = raw.accelerometer_m_s2[2];

				/*  发布数据 */
				orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
					/*
						vehicle_attitude为需要发布的主题ID，后续可以通过该ID订阅数据att；
						att_pub为广播时返回的对象指针；
						att为需要发布的真实数据。
					*/
			}

			/* there could be more file descriptors here, in the form like:
			 * if (fds[1..n].revents & POLLIN) {}
			 */
		}
	}

	PX4_INFO("exiting");

	return 0;
}

该段代码的流程为：
1、订阅ID为sensor_combined 的信息

2、广播ID为vehicle_attitude的信息

3、采用阻塞等待方式等候sensor_combined 的信息到来

4、等到数据来之后Copy ID为sensor_combined下的数据给raw数据

5、将raw中需要的数据赋值给att

6、发布ID为vehicle_attitude的信息，其中的数据为att