events: Move implementation of events::send() to lib/events

CMakeLists.txt

@@ -414,6 +414,8 @@ endif()
 #
 add_library(parameters_interface INTERFACE)
 add_library(kernel_parameters_interface INTERFACE)
+add_library(events_interface INTERFACE)
+add_library(kernel_events_interface INTERFACE)
 
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -440,8 +442,11 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
 	target_link_libraries(parameters_interface INTERFACE usr_parameters)
 	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+	target_link_libraries(events_interface INTERFACE usr_events)
+	target_link_libraries(kernel_events_interface INTERFACE events)
 else()
 	target_link_libraries(parameters_interface INTERFACE parameters)
+	target_link_libraries(events_interface INTERFACE events)
 endif()
 
 # firmware added last to generate the builtin for included modules

cmake/gtest/px4_add_gtest.cmake

@@ -107,6 +107,7 @@ function(px4_add_functional_gtest)
 		                                              px4_daemon
 		                                              work_queue
 		                                              parameters
+		                                              events
 		                                              perf
 		                                              tinybson
 		                                              uorb_msgs

cmake/px4_add_module.cmake

@@ -168,10 +168,11 @@ function(px4_add_module)
 	if(NOT DYNAMIC)
 		target_link_libraries(${MODULE} PRIVATE prebuild_targets px4_platform systemlib perf)
 		if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT AND KERNEL)
-			target_link_libraries(${MODULE} PRIVATE kernel_parameters_interface px4_kernel_layer uORB_kernel)
+			target_link_libraries(${MODULE} PRIVATE
+				kernel_events_interface kernel_parameters_interface px4_kernel_layer uORB_kernel)
 			set_property(GLOBAL APPEND PROPERTY PX4_KERNEL_MODULE_LIBRARIES ${MODULE})
 		else()
-			target_link_libraries(${MODULE} PRIVATE parameters_interface px4_layer uORB)
+			target_link_libraries(${MODULE} PRIVATE events_interface parameters_interface px4_layer uORB)
 			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
 		endif()
 		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})

platforms/common/CMakeLists.txt

@@ -43,7 +43,6 @@ endif()
 add_library(px4_platform STATIC
 	board_common.c
 	board_identity.c
-	events.cpp
 	external_reset_lockout.cpp
 	i2c.cpp
 	i2c_spi_buses.cpp

platforms/nuttx/src/px4/common/include/px4_platform/board_ctrl.h

@@ -53,7 +53,8 @@
 #define _CRYPTOIOCBASE			IOCTL_IDX_TO_BASE(2)
 #define _PARAMIOCBASE			IOCTL_IDX_TO_BASE(3)
 #define _PLATFORMIOCBASE			IOCTL_IDX_TO_BASE(4)
-#define MAX_IOCTL_PTRS 5
+#define _EVENTSIOCBASE			IOCTL_IDX_TO_BASE(5)
+#define MAX_IOCTL_PTRS 6
 
 /* The PLATFORMIOCLAUNCH IOCTL is used to launch kernel side modules
  * from the user side code

platforms/nuttx/src/px4/common/px4_init.cpp

@@ -38,6 +38,7 @@
 #include <px4_platform_common/console_buffer.h>
 #include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
+#include <lib/events/events.h>
 #include <lib/parameters/param.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 #include <px4_platform/cpuload.h>
@@ -125,6 +126,7 @@ int px4_platform_init()
 
 #if !defined(CONFIG_BUILD_FLAT)
 	hrt_ioctl_init();
+	events_ioctl_init();
 #endif
 
 	/* configure CPU load estimation */

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -52,6 +52,8 @@ target_link_libraries(px4_kernel_layer
 		nuttx_kc
 		nuttx_karch
 		nuttx_kmm
+	PRIVATE
+		kernel_events_interface # events_ioctl_init
 )
 
 target_link_libraries(px4_kernel_layer

src/lib/events/CMakeLists.txt

@@ -110,3 +110,13 @@ add_custom_command(OUTPUT ${generated_events_header}
 )
 add_custom_target(events_header DEPENDS ${generated_events_header})
 add_dependencies(prebuild_targets events_header)
+
+# Build the interface(s)
+if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
+	list(APPEND EXTRA_SRCS events_ioctl.cpp)
+	add_library(usr_events usr_events.cpp)
+	add_dependencies(usr_events prebuild_targets)
+endif()
+
+add_library(events events.cpp ${EXTRA_SRCS})
+add_dependencies(events prebuild_targets)

src/lib/events/events.h

@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 Technology Innovation Institute. 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+void events_ioctl_init(void);

src/lib/events/events_ioctl.cpp

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 Technology Innovation Institute. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file events_ioctl.cpp
+ *
+ * Interface to send events from user space.
+ */
+
+#include <px4_platform/board_ctrl.h>
+
+#include <errno.h>
+
+#include "events_ioctl.h"
+
+static int events_ioctl(unsigned int cmd, unsigned long arg)
+{
+	int ret = OK;
+
+	switch (cmd) {
+	case EVENTSIOCSEND: {
+			eventiocsend_t *data = (eventiocsend_t *)arg;
+			events::send(data->event);
+		}
+		break;
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	return ret;
+}
+
+void events_ioctl_init(void)
+{
+	px4_register_boardct_ioctl(_EVENTSIOCBASE, events_ioctl);
+}

src/lib/events/events_ioctl.h

@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 Technology Innovation Institute. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file events_ioctl.h
+ *
+ * User space - kernel space interface for dispatching events.
+ */
+
+#pragma once
+
+#include <px4_platform/board_ctrl.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/events.h>
+
+#define _EVENTSIOC(_n) (_PX4_IOC(_EVENTSIOCBASE, _n))
+
+#define EVENTSIOCSEND _EVENTSIOC(1)
+typedef struct eventiocsend {
+	events::EventType &event;
+} eventiocsend_t;

src/lib/events/usr_events.cpp

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 Technology Innovation Institute. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usr_events.cpp
+ *
+ * User space interface for dispatching events.
+ */
+
+#include <sys/boardctl.h>
+
+#include "events_ioctl.h"
+
+namespace events
+{
+
+void send(EventType &event)
+{
+	eventiocsend_t data = {event};
+	boardctl(EVENTSIOCSEND, reinterpret_cast<unsigned long>(&data));
+}
+
+} /* namespace events */