uORB: Add topic information acquisition and setting interface.

Signed-off-by: likun17 <[email protected]>

Author: Otpvondoiats

system/uorb/uORB/uORB.c

@@ -257,6 +257,16 @@ int orb_get_interval(int fd, FAR unsigned *interval)
   return ret;
 }
 
+int orb_set_info(int fd, FAR const orb_info_t *info)
+{
+  return ioctl(fd, SNIOC_SET_INFO, (unsigned long)(uintptr_t)info);
+}
+
+int orb_get_info(int fd, FAR orb_info_t *info)
+{
+  return ioctl(fd, SNIOC_GET_INFO, (unsigned long)(uintptr_t)info);
+}
+
 int orb_set_batch_interval(int fd, unsigned batch_interval)
 {
   return ioctl(fd, SNIOC_BATCH, (unsigned long)batch_interval);
@@ -340,7 +350,7 @@ void orb_info(FAR const char *format, FAR const char *name,
 
   vaf.fmt = format;
   vaf.va  = (va_list *)data;
-  uorbinfo_raw("%s(now:%" PRIu64 "):%pB", name, orb_absolute_time(), &vaf);
+  uorbinfo_raw("%s(now:%" PRIu64 "):%pB\n", name, orb_absolute_time(), &vaf);
 }
 
 int orb_fprintf(FAR FILE *stream, FAR const char *format,

system/uorb/uORB/uORB.h

@@ -69,6 +69,7 @@ struct orb_object
 };
 
 typedef uint64_t orb_abstime;
+typedef struct sensor_device_info_s orb_info_t;
 
 struct orb_handle_s;
 
@@ -625,6 +626,38 @@ int orb_set_interval(int fd, unsigned interval);
 
 int orb_get_interval(int fd, FAR unsigned *interval);
 
+/****************************************************************************
+ * Name: orb_set_info
+ *
+ * Description:
+ *   Set topic information.
+ *
+ * Input Parameters:
+ *   fd     A fd returned from orb_subscribe.
+ *   info   Data to be transmitted.
+ *
+ * Returned Value:
+ *   0 on success, -1 otherwise with ERRNO set accordingly.
+ ****************************************************************************/
+
+int orb_set_info(int fd, FAR const orb_info_t *info);
+
+/****************************************************************************
+ * Name: orb_get_info
+ *
+ * Description:
+ *   Get topic information.
+ *
+ * Input Parameters:
+ *   fd     A fd returned from orb_subscribe.
+ *   info   The returned topic info.
+ *
+ * Returned Value:
+ *   0 on success, -1 otherwise with ERRNO set accordingly.
+ ****************************************************************************/
+
+int orb_get_info(int fd, FAR orb_info_t *info);
+
 /****************************************************************************
  * Name:
  *   orb_set_frequency