for_each_matching_node的展开分析

该代码段描述了一个在Linux内核中遍历设备树并寻找与给定匹配表相匹配的设备节点的过程。`of_find_matching_node`函数从指定的起点开始查找,使用`for_each_matching_node`宏进行迭代。匹配基于`of_device_id`结构的比较,主要考虑`compatible`、`type`和`name`属性的匹配度。`of_root`是设备树的根节点,由`of_pdt_create_node`创建。

for_each_matching_node(np, matches)

892 #define for_each_matching_node(dn, matches)
893 for (dn = of_find_matching_node(NULL, matches); dn;
894 dn = of_find_matching_node(dn, matches))

for (np = of_find_matching_node(NULL, matches); np; np = of_find_matching_node(np, matches))

of_find_matching_node

static inline struct device_node *of_find_matching_node(
struct device_node *from,
const struct of_device_id *matches)
{
return of_find_matching_node_and_match(from, matches, NULL);
}

/**

  • of_find_matching_node_and_match - Find a node based on an of_device_id

  •                match table.
    
  • @from: The node to start searching from or NULL, the node

  •      you pass will not be searched, only the next one
    
  •      will; typically, you pass what the previous call
    
  •      returned. of_node_put() will be called on it
    
  • @matches: array of of device match structures to search in

  • @match Updated to point at the matches entry which matched

  • Returns a node pointer with refcount incremented, use

  • of_node_put() on it when done.
    */
    struct device_node *of_find_matching_node_and_match(struct device_node *from,
    const struct of_device_id *matches,
    const struct of_device_id **match)
    {
    struct device_node *np;
    const struct of_device_id *m;
    unsigned long flags;

    if (match)
    *match = NULL;

    raw_spin_lock_irqsave(&devtree_lock, flags);
    for_each_of_allnodes_from(from, np) {// 从from开始遍历设备树节点,此循环会遍历所有设备树节点,但是一旦当前结点找到了匹配的matches,那就直接退出循环了
    m = __of_match_node(matches, np);
    if (m && of_node_get(np)) {
    if (match)
    *match = m;
    break;
    }
    }
    of_node_put(from);
    raw_spin_unlock_irqrestore(&devtree_lock, flags);
    return np;
    }
    EXPORT_SYMBOL(of_find_matching_node_and_match);

// 就是从from开始遍历设备树节点
#define for_each_of_allnodes_from(from, dn)
for (dn = __of_find_all_nodes(from); dn; dn = __of_find_all_nodes(dn))

大概看了一下逻辑,就是遍历设备树节点
struct device_node *__of_find_all_nodes(struct device_node *prev)
{
struct device_node np;
if (!prev) {
np = of_root; //第一个自然是根结点
} else if (prev->child) {
np = prev->child;//有子节点优先返回子节点
} else {
/
Walk back up looking for a sibling, or the end of the structure /
np = prev;
while (np->parent && !np->sibling)
np = np->parent;
np = np->sibling; /
Might be null at the end of the tree */ //返回兄弟结点
}
return np;
}

of_root哪里来的?
drivers/of/pdt.c:234: of_root = of_pdt_create_node(root_node, NULL);
他日有缘再细分析

// 传入一个node设备树节点,让它与给定的一组的matches匹配,返回其中最合适的matches
static const struct of_device_id *__of_match_node(const struct of_device_id *matches,
const struct device_node *node)
{
const struct of_device_id *best_match = NULL;
int score, best_score = 0;

if (!matches)
    return NULL;
// 遍历matches,返回与节点node最匹配的那个matches
for (; matches->name[0] || matches->type[0] || matches->compatible[0]; matches++) {
    score = __of_device_is_compatible(node, matches->compatible,
                      matches->type, matches->name);
    if (score > best_score) {
        best_match = matches;
        best_score = score;
    }
}

return best_match;

}

cmake_minimum_required(VERSION 3.0.2) project(my_tutorial_pkg) ## Compile as C++11, supported in ROS Kinetic and newer # add_compile_options(-std=c++11) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS message_generation message_runtime roscpp std_msgs ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) ## Uncomment this if the package has a setup.py. This macro ensures ## modules and global scripts declared therein get installed ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html # catkin_python_setup() ################################################ ## Declare ROS messages, services and actions ## ################################################ ## To declare and build messages, services or actions from within this ## package, follow these steps: ## * Let MSG_DEP_SET be the set of packages whose message types you use in ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). ## * In the file package.xml: ## * add a build_depend tag for "message_generation" ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in ## but can be declared for certainty nonetheless: ## * add a exec_depend tag for "message_runtime" ## * In this file (CMakeLists.txt): ## * add "message_generation" and every package in MSG_DEP_SET to ## find_package(catkin REQUIRED COMPONENTS ...) ## * add "message_runtime" and every package in MSG_DEP_SET to ## catkin_package(CATKIN_DEPENDS ...) ## * uncomment the add_*_files sections below as needed ## and list every .msg/.srv/.action file to be processed ## * uncomment the generate_messages entry below ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) ## Generate messages in the 'msg' folder add_message_files( FILES MyTutorial.msg # 你的自定义消息文件,必须和 msg 文件夹下的文件名一致 ) ## Generate services in the 'srv' folder # add_service_files( # FILES # Service1.srv # Service2.srv # ) ## Generate actions in the 'action' folder # add_action_files( # FILES # Action1.action # Action2.action # ) ## Generate added messages and services with any dependencies listed here generate_messages( DEPENDENCIES std_msgs ) ################################################ ## Declare ROS dynamic reconfigure parameters ## ################################################ ## To declare and build dynamic reconfigure parameters within this ## package, follow these steps: ## * In the file package.xml: ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" ## * In this file (CMakeLists.txt): ## * add "dynamic_reconfigure" to ## find_package(catkin REQUIRED COMPONENTS ...) ## * uncomment the "generate_dynamic_reconfigure_options" section below ## and list every .cfg file to be processed ## Generate dynamic reconfigure parameters in the 'cfg' folder # generate_dynamic_reconfigure_options( # cfg/DynReconf1.cfg # cfg/DynReconf2.cfg # ) ################################### ## catkin specific configuration ## ################################### ## The catkin_package macro generates cmake config files for your package ## Declare things to be passed to dependent projects ## INCLUDE_DIRS: uncomment this if your package contains header files ## LIBRARIES: libraries you create in this project that dependent projects also need ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( INCLUDE_DIRS include LIBRARIES my_tutorial_pkg CATKIN_DEPENDS message_generation message_runtime roscpp std_msgs # DEPENDS system_lib ) ########### ## Build ## ########### ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories( # include ${catkin_INCLUDE_DIRS} ) ## Declare a C++ library # add_library(${PROJECT_NAME} # src/${PROJECT_NAME}/my_tutorial_pkg.cpp # ) ## Add cmake target dependencies of the library ## as an example, code may need to be generated before libraries ## either from message generation or dynamic reconfigure # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide # add_executable(${PROJECT_NAME}_node src/my_tutorial_pkg_node.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the ## target back to the shorter version for ease of user use ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") ## Add cmake target dependencies of the executable ## same as for the library above # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against # target_link_libraries(${PROJECT_NAME}_node # ${catkin_LIBRARIES} # ) ############# ## Install ## ############# # all install targets should use catkin DESTINATION variables # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html ## Mark executable scripts (Python etc.) for installation ## in contrast to setup.py, you can choose the destination # catkin_install_python(PROGRAMS # scripts/my_python_script # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) ## Mark executables for installation ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html # install(TARGETS ${PROJECT_NAME}_node # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) ## Mark libraries for installation ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html # install(TARGETS ${PROJECT_NAME} # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} # ) ## Mark cpp header files for installation # install(DIRECTORY include/${PROJECT_NAME}/ # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} # FILES_MATCHING PATTERN "*.h" # PATTERN ".svn" EXCLUDE # ) ## Mark other files for installation (e.g. launch and bag files, etc.) # install(FILES # # myfile1 # # myfile2 # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} # ) ############# ## Testing ## ############# ## Add gtest based cpp test target and link libraries # catkin_add_gtest(${PROJECT_NAME}-test test/test_my_tutorial_pkg.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() ## Add folders to be run by python nosetests # catkin_add_nosetests(test) ############################################################################## # 编译发布者节点(topic_publisher_node) ############################################################################## add_executable(topic_publisher_node src/topic_publisher_node.cpp) add_dependencies(topic_publisher_node ${${PROJECT_NAME}_EXPORTED_TARGETS} # 依赖自定义消息生成的目标 ${catkin_EXPORTED_TARGETS} # 依赖ROS核心目标 ) target_link_libraries(topic_publisher_node ${catkin_LIBRARIES} ) ############################################################################## # 编译订阅者节点(topic_subscriber_node) ############################################################################## add_executable(topic_subscriber_node src/topic_subscriber_node.cpp) add_dependencies(topic_subscriber_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ) target_link_libraries(topic_subscriber_node ${catkin_LIBRARIES} )将改完的完整代码发我
最新发布
11-11
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