forked from Archive/PX4-Autopilot
uorb: remove syntax differences between posix & nuttx src file
This commit is contained in:
Beat Küng
Julian Oes
parent
fbd7aac4b5
commit
83c5323c3a
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@ -43,14 +43,15 @@
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#include <px4_sem.hpp>
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#include <stdlib.h>
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uORB::DeviceNode::DeviceNode
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(
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const struct orb_metadata *meta,
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const char *name,
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const char *path,
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int priority,
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unsigned int queue_size
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) :
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uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(struct file *filp)
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{
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SubscriberData *sd = (SubscriberData *)(filp->f_priv);
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return sd;
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}
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uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
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int priority, unsigned int queue_size) :
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CDev(name, path),
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_meta(meta),
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_data(nullptr),
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@ -64,7 +65,7 @@ uORB::DeviceNode::DeviceNode
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_subscriber_count(0)
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{
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// enable debug() calls
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_debug_enabled = true;
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//_debug_enabled = true;
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}
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uORB::DeviceNode::~DeviceNode()
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@ -88,7 +89,7 @@ uORB::DeviceNode::open(struct file *filp)
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if (_publisher == 0) {
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_publisher = getpid();
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ret = OK;
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ret = PX4_OK;
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} else {
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ret = -EBUSY;
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@ -97,11 +98,11 @@ uORB::DeviceNode::open(struct file *filp)
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unlock();
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/* now complete the open */
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if (ret == OK) {
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if (ret == PX4_OK) {
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ret = CDev::open(filp);
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/* open failed - not the publisher anymore */
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if (ret != OK) {
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if (ret != PX4_OK) {
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_publisher = 0;
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}
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}
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@ -133,7 +134,8 @@ uORB::DeviceNode::open(struct file *filp)
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add_internal_subscriber();
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if (ret != OK) {
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if (ret != PX4_OK) {
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PX4_ERR("VDev::open failed");
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delete sd;
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}
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@ -289,12 +291,12 @@ uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
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irqstate_t state = px4_enter_critical_section();
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*(hrt_abstime *)arg = _last_update;
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px4_leave_critical_section(state);
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return OK;
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return PX4_OK;
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}
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case ORBIOCUPDATED:
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*(bool *)arg = appears_updated(sd);
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return OK;
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return PX4_OK;
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case ORBIOCSETINTERVAL: {
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int ret = PX4_OK;
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@ -329,11 +331,11 @@ uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
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case ORBIOCGADVERTISER:
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*(uintptr_t *)arg = (uintptr_t)this;
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return OK;
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return PX4_OK;
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case ORBIOCGPRIORITY:
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*(int *)arg = sd->priority();
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return OK;
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return PX4_OK;
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case ORBIOCSETQUEUESIZE:
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//no need for locking here, since this is used only during the advertisement call,
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@ -357,24 +359,19 @@ uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
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}
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ssize_t
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uORB::DeviceNode::publish
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(
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const orb_metadata *meta,
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orb_advert_t handle,
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const void *data
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)
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uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *data)
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{
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uORB::DeviceNode *DeviceNode = (uORB::DeviceNode *)handle;
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uORB::DeviceNode *devnode = (uORB::DeviceNode *)handle;
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int ret;
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/* this is a bit risky, since we are trusting the handle in order to deref it */
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if (DeviceNode->_meta != meta) {
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if (devnode->_meta != meta) {
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errno = EINVAL;
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return ERROR;
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}
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/* call the DeviceNode write method with no file pointer */
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ret = DeviceNode->write(nullptr, (const char *)data, meta->o_size);
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/* call the devnode write method with no file pointer */
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ret = devnode->write(nullptr, (const char *)data, meta->o_size);
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if (ret < 0) {
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return ERROR;
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@ -398,7 +395,7 @@ uORB::DeviceNode::publish
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}
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}
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return OK;
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return PX4_OK;
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}
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int uORB::DeviceNode::unadvertise(orb_advert_t handle)
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@ -642,14 +639,14 @@ int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
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ch->send_message(_meta->o_name, _meta->o_size, _data);
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}
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return OK;
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return PX4_OK;
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}
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//-----------------------------------------------------------------------------
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//-----------------------------------------------------------------------------
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int16_t uORB::DeviceNode::process_remove_subscription()
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{
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return OK;
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return PX4_OK;
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}
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//-----------------------------------------------------------------------------
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@ -676,7 +673,7 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
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return ERROR;
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}
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return OK;
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return PX4_OK;
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}
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uORB::DeviceMaster::DeviceMaster(Flavor f) :
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@ -685,7 +682,7 @@ uORB::DeviceMaster::DeviceMaster(Flavor f) :
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_flavor(f)
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{
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// enable debug() calls
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_debug_enabled = true;
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//_debug_enabled = true;
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_last_statistics_output = hrt_absolute_time();
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}
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@ -710,7 +707,7 @@ uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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/* construct a path to the node - this also checks the node name */
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ret = uORB::Utils::node_mkpath(nodepath, _flavor, meta, adv->instance);
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if (ret != OK) {
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if (ret != PX4_OK) {
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return ret;
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}
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@ -762,8 +759,8 @@ uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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/* initialise the node - this may fail if e.g. a node with this name already exists */
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ret = node->init();
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if (ret != OK) {
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/* if init failed, discard the node */
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/* if init failed, discard the node and its name */
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if (ret != PX4_OK) {
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delete node;
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if (ret == -EEXIST) {
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@ -773,7 +770,7 @@ uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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if ((existing_node != nullptr) && !(existing_node->is_published())) {
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/* nothing has been published yet, lets claim it */
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ret = OK;
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ret = PX4_OK;
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} else {
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/* otherwise: data has already been published, keep looking */
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@ -790,7 +787,7 @@ uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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group_tries++;
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} while (ret != OK && (group_tries < max_group_tries));
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} while (ret != PX4_OK && (group_tries < max_group_tries));
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if (ret != PX4_OK && group_tries >= max_group_tries) {
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ret = -ENOMEM;
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@ -900,7 +897,6 @@ void uORB::DeviceMaster::addNewDeviceNodes(DeviceNodeStatisticsData **first_node
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last_node->last_lost_msg_count = last_node->node->lost_message_count();
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last_node->last_pub_msg_count = last_node->node->published_message_count();
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}
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}
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@ -1004,7 +1000,6 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
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#undef CLEAR_LINE
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uORB::DeviceNode *uORB::DeviceMaster::getDeviceNode(const char *nodepath)
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{
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lock();
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@ -31,8 +31,7 @@
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*
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****************************************************************************/
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#ifndef _uORBDevices_nuttx_hpp_
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#define _uORBDevices_nuttx_hpp_
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#pragma once
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#include <stdint.h>
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#include <string.h>
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@ -54,28 +53,15 @@ class Manager;
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class uORB::DeviceNode : public device::CDev
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{
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public:
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/**
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* Constructor
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*/
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DeviceNode
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(
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const struct orb_metadata *meta,
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const char *name,
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const char *path,
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int priority,
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unsigned int queue_size = 1
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);
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/**
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* Destructor
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*/
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DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
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int priority, unsigned int queue_size = 1);
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~DeviceNode();
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/**
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* Method to create a subscriber instance and return the struct
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* pointing to the subscriber as a file pointer.
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*/
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virtual int open(struct file *filp);
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virtual int open(struct file *filp);
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/**
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* Method to close a subscriber for this topic.
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@ -117,12 +103,7 @@ public:
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/**
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* Method to publish a data to this node.
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*/
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static ssize_t publish
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(
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const orb_metadata *meta,
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orb_advert_t handle,
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const void *data
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);
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static ssize_t publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
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static int unadvertise(orb_advert_t handle);
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@ -225,11 +206,7 @@ private:
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bool _published; /**< has ever data been published */
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unsigned int _queue_size; /**< maximum number of elements in the queue */
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static SubscriberData *filp_to_sd(struct file *filp)
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{
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SubscriberData *sd = (SubscriberData *)(filp->f_priv);
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return sd;
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}
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inline static SubscriberData *filp_to_sd(struct file *filp);
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bool _IsRemoteSubscriberPresent;
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int32_t _subscriber_count;
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@ -253,11 +230,14 @@ private:
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/**
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* Check whether a topic appears updated to a subscriber.
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*
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* Lock must already be held when calling this.
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*
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* @param sd The subscriber for whom to check.
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* @return True if the topic should appear updated to the subscriber
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*/
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bool appears_updated(SubscriberData *sd);
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// disable copy and assignment operators
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DeviceNode(const DeviceNode &);
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DeviceNode &operator=(const DeviceNode &);
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@ -325,5 +305,3 @@ private:
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};
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#endif
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@ -45,7 +45,7 @@
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#include <stdlib.h>
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uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *filp)
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uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *filp)
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{
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uORB::DeviceNode::SubscriberData *sd;
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@ -143,11 +143,10 @@ uORB::DeviceNode::open(device::file_t *filp)
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add_internal_subscriber();
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if (ret != PX4_OK) {
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warnx("ERROR: VDev::open failed\n");
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PX4_ERR("VDev::open failed");
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delete sd;
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}
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//warnx("uORB::DeviceNode::Open: fd = %d flags = %d, priv = %p cdev = %p\n", filp->fd, filp->flags, filp->priv, filp->cdev);
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return ret;
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}
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@ -158,7 +157,6 @@ uORB::DeviceNode::open(device::file_t *filp)
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int
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uORB::DeviceNode::close(device::file_t *filp)
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{
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//warnx("uORB::DeviceNode::close fd = %d", filp->fd);
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/* is this the publisher closing? */
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if (px4_getpid() == _publisher) {
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_publisher = 0;
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@ -183,7 +181,6 @@ uORB::DeviceNode::close(device::file_t *filp)
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ssize_t
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uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
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{
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//warnx("uORB::DeviceNode::read fd = %d\n", filp->fd);
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SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
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/* if the object has not been written yet, return zero */
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@ -240,7 +237,6 @@ uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
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ssize_t
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uORB::DeviceNode::write(device::file_t *filp, const char *buffer, size_t buflen)
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{
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//warnx("uORB::DeviceNode::write filp = %p (null is normal)", filp);
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/*
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* Writes are legal from interrupt context as long as the
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* object has already been initialised from thread context.
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@ -373,14 +369,6 @@ uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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ssize_t
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uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *data)
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{
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//warnx("uORB::DeviceNode::publish meta = %p", meta);
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if (handle == nullptr) {
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warnx("uORB::DeviceNode::publish called with invalid handle");
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errno = EINVAL;
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return ERROR;
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}
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uORB::DeviceNode *devnode = (uORB::DeviceNode *)handle;
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int ret;
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@ -31,14 +31,14 @@
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*
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****************************************************************************/
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#ifndef _uORBDevices_posix_hpp_
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#define _uORBDevices_posix_hpp_
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#pragma once
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#include <stdint.h>
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#include <string>
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#include <map>
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#include "uORBCommon.hpp"
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namespace uORB
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{
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class DeviceNode;
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@ -46,6 +46,9 @@ class DeviceMaster;
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class Manager;
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}
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/**
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* Per-object device instance.
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*/
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class uORB::DeviceNode : public device::VDev
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{
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public:
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@ -53,12 +56,52 @@ public:
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int priority, unsigned int queue_size = 1);
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~DeviceNode();
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virtual int open(device::file_t *filp);
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/**
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* Method to create a subscriber instance and return the struct
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* pointing to the subscriber as a file pointer.
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*/
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virtual int open(device::file_t *filp);
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/**
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* Method to close a subscriber for this topic.
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*/
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virtual int close(device::file_t *filp);
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/**
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* reads data from a subscriber node to the buffer provided.
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* @param filp
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* The subscriber from which the data needs to be read from.
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* @param buffer
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* The buffer into which the data is read into.
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* @param buflen
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* the length of the buffer
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* @return
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* ssize_t the number of bytes read.
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*/
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virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
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/**
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* writes the published data to the internal buffer to be read by
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* subscribers later.
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* @param filp
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* the subscriber; this is not used.
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* @param buffer
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* The buffer for the input data
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* @param buflen
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* the length of the buffer.
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* @return ssize_t
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* The number of bytes that are written
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*/
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virtual ssize_t write(device::file_t *filp, const char *buffer, size_t buflen);
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/**
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* IOCTL control for the subscriber.
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*/
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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/**
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* Method to publish a data to this node.
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*/
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static ssize_t publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
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static int unadvertise(orb_advert_t handle);
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@ -131,7 +174,7 @@ public:
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protected:
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virtual pollevent_t poll_state(device::file_t *filp);
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virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
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virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
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private:
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struct UpdateIntervalData {
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|
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@ -163,7 +206,7 @@ private:
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bool _published; /**< has ever data been published */
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unsigned int _queue_size; /**< maximum number of elements in the queue */
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static SubscriberData *filp_to_sd(device::file_t *filp);
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inline static SubscriberData *filp_to_sd(device::file_t *filp);
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int32_t _subscriber_count;
|
||||
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@ -260,4 +303,3 @@ private:
|
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hrt_abstime _last_statistics_output;
|
||||
};
|
||||
|
||||
#endif /* _uORBDeviceNode_posix.hpp */
|
||||
|
|
|
|||
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Reference in New Issue