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extensive orb_advert_t fixes 

The calls to orb_advertise were being mishandled throughout the code.
There were ::close() calls on memory pointers, there were checks
against < 0 when it is a pointer to a object and values larger than
0x7ffffffff are valid. Some places orb_advert_t variables were
being initialized as 0 other places as -1.

The orb_advert_t type was changed to uintptr_t so the pointer value
would not be wrapped as a negative number. This was causing a failure
on ARM.

Tests for < 0 were changed to == 0 since a null pointer is the valid
representation for error, or uninitialized.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-05-23 00:35:17 +00:00 committed by Lorenz Meier
parent 9a67303416
commit a734fc96d1
52 changed files with 202 additions and 208 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/drivers/airspeed/airspeed.cpp
View File

@ -86,8 +86,8 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
_measure_ticks(0),
_collect_phase(false),
_diff_pres_offset(0.0f),
_airspeed_pub(-1),
_subsys_pub(-1),
_airspeed_pub(0),
_subsys_pub(0),
_class_instance(-1),
_conversion_interval(conversion_interval),
_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
@ -146,7 +146,7 @@ Airspeed::init()
/* measurement will have generated a report, publish */
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
if (_airspeed_pub < 0)
if (_airspeed_pub == 0)
warnx("uORB started?");
}
@ -367,7 +367,7 @@ Airspeed::update_status()
SUBSYSTEM_TYPE_DIFFPRESSURE
};
if (_subsys_pub > 0) {
if (_subsys_pub == 0) {
orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
} else {
_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);

6
src/drivers/batt_smbus/batt_smbus.cpp
View File

@ -203,7 +203,7 @@ BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
_enabled(false),
_work{},
_reports(nullptr),
_batt_topic(-1),
_batt_topic(0),
_batt_orb_id(nullptr),
_start_time(0),
_batt_capacity(0)
@ -427,13 +427,13 @@ BATT_SMBUS::cycle()
}
// publish to orb
if (_batt_topic != -1) {
if (_batt_topic != 0) {
orb_publish(_batt_orb_id, _batt_topic, &new_report);
} else {
_batt_topic = orb_advertise(_batt_orb_id, &new_report);
if (_batt_topic < 0) {
if (_batt_topic == 0) {
errx(1, "ADVERT FAIL");
}
}

4
src/drivers/bma180/bma180.cpp
View File

@ -238,7 +238,7 @@ BMA180::BMA180(int bus, spi_dev_e device) :
_reports(nullptr),
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_accel_topic(0),
_class_instance(-1),
_current_lowpass(0),
_current_range(0),
@ -733,7 +733,7 @@ BMA180::measure()
poll_notify(POLLIN);
/* publish for subscribers */
if (_accel_topic > 0 && !(_pub_blocked))
if (_accel_topic != 0 && !(_pub_blocked))
orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
/* stop the perf counter */

5
src/drivers/gimbal/gimbal.cpp
View File

@ -180,7 +180,7 @@ Gimbal::Gimbal() :
_attitude_compensation_pitch(true),
_attitude_compensation_yaw(true),
_initialized(false),
_actuator_controls_2_topic(-1),
_actuator_controls_2_topic(0),
_sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")),
_comms_errors(perf_alloc(PC_COUNT, "gimbal_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "gimbal_buffer_overflows"))
@ -197,7 +197,6 @@ Gimbal::~Gimbal()
/* make sure we are truly inactive */
stop();
::close(_actuator_controls_2_topic);
::close(_vehicle_command_sub);
}
@ -281,7 +280,7 @@ Gimbal::cycle()
zero_report.timestamp = hrt_absolute_time();
_actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report);
if (_actuator_controls_2_topic < 0) {
if (_actuator_controls_2_topic == 0) {
warnx("advert err");
}

4
src/drivers/gps/gps.cpp
View File

@ -175,9 +175,9 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
_mode(GPS_DRIVER_MODE_UBX),
_Helper(nullptr),
_Sat_Info(nullptr),
_report_gps_pos_pub(-1),
_report_gps_pos_pub(0),
_p_report_sat_info(nullptr),
_report_sat_info_pub(-1),
_report_sat_info_pub(0),
_rate(0.0f),
_fake_gps(fake_gps)
{

2
src/drivers/hil/hil.cpp
View File

@ -805,7 +805,7 @@ fake(int argc, char *argv[])
orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
if (handle < 0) {
if (handle == 0) {
puts("advertise failed");
return 1;
}

6
src/drivers/hmc5883/hmc5883.cpp
View File

@ -360,7 +360,7 @@ HMC5883::HMC5883(device::Device *interface, const char *path, enum Rotation rota
_collect_phase(false),
_class_instance(-1),
_orb_class_instance(-1),
_mag_topic(-1),
_mag_topic(0),
_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
@ -986,14 +986,14 @@ HMC5883::collect()
if (!(_pub_blocked)) {
if (_mag_topic != -1) {
if (_mag_topic != 0) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
} else {
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &new_report,
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_mag_topic < 0)
if (_mag_topic == 0)
debug("ADVERT FAIL");
}
}

2
src/drivers/hott/messages.cpp
View File

@ -63,7 +63,7 @@ static int _sensor_sub = -1;
static int _airspeed_sub = -1;
static int _esc_sub = -1;
static orb_advert_t _esc_pub;
static orb_advert_t _esc_pub = 0;
static bool _home_position_set = false;
static double _home_lat = 0.0d;

4
src/drivers/l3gd20/l3gd20.cpp
View File

@ -411,7 +411,7 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotati
_gyro_scale{},
_gyro_range_scale(0.0f),
_gyro_range_rad_s(0.0f),
_gyro_topic(-1),
_gyro_topic(0),
_orb_class_instance(-1),
_class_instance(-1),
_current_rate(0),
@ -490,7 +490,7 @@ L3GD20::init()
_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
&_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
if (_gyro_topic < 0) {
if (_gyro_topic == 0) {
debug("failed to create sensor_gyro publication");
}

8
src/drivers/lsm303d/lsm303d.cpp
View File

@ -563,7 +563,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota
_mag_range_ga(0.0f),
_mag_range_scale(0.0f),
_mag_samplerate(0),
_accel_topic(-1),
_accel_topic(0),
_accel_orb_class_instance(-1),
_accel_class_instance(-1),
_accel_read(0),
@ -676,7 +676,7 @@ LSM303D::init()
_mag->_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
&_mag->_mag_orb_class_instance, ORB_PRIO_LOW);
if (_mag->_mag_topic < 0) {
if (_mag->_mag_topic == 0) {
warnx("ADVERT ERR");
}
@ -691,7 +691,7 @@ LSM303D::init()
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
&_accel_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
if (_accel_topic < 0) {
if (_accel_topic == 0) {
warnx("ADVERT ERR");
}
@ -1770,7 +1770,7 @@ LSM303D::test_error()
LSM303D_mag::LSM303D_mag(LSM303D *parent) :
CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG),
_parent(parent),
_mag_topic(-1),
_mag_topic(0),
_mag_orb_class_instance(-1),
_mag_class_instance(-1)
{

6
src/drivers/mb12xx/mb12xx.cpp
View File

@ -211,7 +211,7 @@ MB12XX::MB12XX(int bus, int address) :
_collect_phase(false),
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(-1),
_distance_sensor_topic(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")),
_comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows")),
@ -276,7 +276,7 @@ MB12XX::init()
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic < 0) {
if (_distance_sensor_topic == nullptr) {
log("failed to create distance_sensor object. Did you start uOrb?");
}
}
@ -588,7 +588,7 @@ MB12XX::collect()
report.id = 0;
/* publish it, if we are the primary */
if (_distance_sensor_topic >= 0) {
if (_distance_sensor_topic != nullptr) {
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
}

1
src/drivers/mkblctrl/mkblctrl.cpp
View File

@ -641,7 +641,6 @@ MK::task_main()
}
::close(_t_esc_status);
::close(_t_actuators);
::close(_t_actuator_armed);

8
src/drivers/mpu6000/mpu6000.cpp
View File

@ -507,7 +507,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_accel_scale{},
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_accel_topic(0),
_accel_orb_class_instance(-1),
_accel_class_instance(-1),
_gyro_reports(nullptr),
@ -658,7 +658,7 @@ MPU6000::init()
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
&_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
if (_accel_topic < 0) {
if (_accel_topic == 0) {
warnx("ADVERT FAIL");
}
@ -670,7 +670,7 @@ MPU6000::init()
_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
&_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
if (_gyro->_gyro_topic < 0) {
if (_gyro->_gyro_topic == 0) {
warnx("ADVERT FAIL");
}
@ -1847,7 +1847,7 @@ MPU6000::print_registers()
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
CDev("MPU6000_gyro", path),
_parent(parent),
_gyro_topic(-1),
_gyro_topic(0),
_gyro_orb_class_instance(-1),
_gyro_class_instance(-1)
{

4
src/drivers/ms5611/ms5611_nuttx.cpp
View File

@ -224,7 +224,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char*
_OFF(0),
_SENS(0),
_msl_pressure(101325),
_baro_topic(-1),
_baro_topic(0),
_orb_class_instance(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
@ -322,7 +322,7 @@ MS5611::init()
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
if (_baro_topic < 0) {
if (_baro_topic == 0) {
warnx("failed to create sensor_baro publication");
}

4
src/drivers/ms5611/ms5611_posix.cpp
View File

@ -223,7 +223,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char*
_OFF(0),
_SENS(0),
_msl_pressure(101325),
_baro_topic(-1),
_baro_topic(0),
_orb_class_instance(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
@ -325,7 +325,7 @@ MS5611::init()
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
if (_baro_topic == (orb_advert_t)(-1)) {
if (_baro_topic == 0) {
warnx("failed to create sensor_baro publication");
}
//warnx("sensor_baro publication %ld", _baro_topic);

6
src/drivers/px4flow/px4flow.cpp
View File

@ -193,8 +193,8 @@ PX4FLOW::PX4FLOW(int bus, int address, enum Rotation rotation) :
_collect_phase(false),
_class_instance(-1),
_orb_class_instance(-1),
_px4flow_topic(-1),
_distance_sensor_topic(-1),
_px4flow_topic(nullptr),
_distance_sensor_topic(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")),
_comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")),
@ -517,7 +517,7 @@ PX4FLOW::collect()
float zeroval = 0.0f;
rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
if (_px4flow_topic < 0) {
if (_px4flow_topic == 0) {
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
} else {

7
src/drivers/sf0x/sf0x.cpp
View File

@ -200,7 +200,7 @@ SF0X::SF0X(const char *port) :
_last_read(0),
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(-1),
_distance_sensor_topic(nullptr),
_consecutive_fail_count(0),
_sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")),
_comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")),
@ -293,6 +293,7 @@ SF0X::init()
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
<<<<<<< HEAD
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report = {};
@ -303,6 +304,10 @@ SF0X::init()
if (_distance_sensor_topic < 0) {
log("failed to create distance_sensor object. Did you start uOrb?");
}
=======
if (_range_finder_topic == 0) {
warnx("advert err");
>>>>>>> extensive orb_advert_t fixes
}
} while(0);

10
src/drivers/trone/trone.cpp
View File

@ -238,7 +238,7 @@ TRONE::TRONE(int bus, int address) :
_collect_phase(false),
_class_instance(-1),
_orb_class_instance(-1),
_distance_sensor_topic(-1),
_distance_sensor_topic(0),
_sample_perf(perf_alloc(PC_ELAPSED, "trone_read")),
_comms_errors(perf_alloc(PC_COUNT, "trone_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "trone_buffer_overflows"))
@ -301,7 +301,7 @@ TRONE::init()
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_LOW);
if (_distance_sensor_topic < 0) {
if (_distance_sensor_topic == 0) {
log("failed to create distance_sensor object. Did you start uOrb?");
}
}
@ -587,7 +587,7 @@ TRONE::collect()
report.id = 0;
/* publish it, if we are the primary */
if (_distance_sensor_topic >= 0) {
if (_distance_sensor_topic != nullptr) {
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
}
@ -621,9 +621,9 @@ TRONE::start()
true,
SUBSYSTEM_TYPE_RANGEFINDER
};
static orb_advert_t pub = -1;
static orb_advert_t pub = nullptr;
if (pub > 0) {
if (pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {

8
src/examples/hwtest/hwtest.c
View File

@ -63,7 +63,7 @@ int ex_hwtest_main(int argc, char *argv[])
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
orb_advert_t actuator_pub_ptr = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
struct actuator_armed_s arm;
memset(&arm, 0 , sizeof(arm));
@ -71,8 +71,8 @@ int ex_hwtest_main(int argc, char *argv[])
arm.timestamp = hrt_absolute_time();
arm.ready_to_arm = true;
arm.armed = true;
orb_advert_t arm_pub_fd = orb_advertise(ORB_ID(actuator_armed), &arm);
orb_publish(ORB_ID(actuator_armed), arm_pub_fd, &arm);
orb_advert_t arm_pub_ptr = orb_advertise(ORB_ID(actuator_armed), &arm);
orb_publish(ORB_ID(actuator_armed), arm_pub_ptr, &arm);
/* read back values to validate */
int arm_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
@ -118,7 +118,7 @@ int ex_hwtest_main(int argc, char *argv[])
}
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
orb_publish(ORB_ID(actuator_controls_0), actuator_pub_ptr, &actuators);
usleep(10000);
}

4
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
View File

@ -114,7 +114,7 @@ private:
int _sensors_sub = -1;
int _params_sub = -1;
int _global_pos_sub = -1;
orb_advert_t _att_pub = -1;
orb_advert_t _att_pub = 0;
struct {
param_t w_acc;
@ -327,7 +327,7 @@ void AttitudeEstimatorQ::task_main() {
memcpy(&att.R[0], R.data, sizeof(att.R));
att.R_valid = true;
if (_att_pub < 0) {
if (_att_pub == 0) {
_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
} else {
orb_publish(ORB_ID(vehicle_attitude), _att_pub, &att);

2
src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
View File

@ -432,8 +432,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
/* advertise attitude */
//orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
//orb_advert_t att_pub = -1;
orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
int loopcounter = 0;

4
src/modules/bottle_drop/bottle_drop.cpp
View File

@ -180,7 +180,7 @@ BottleDrop::BottleDrop() :
_command {},
_global_pos {},
ref {},
_actuator_pub(-1),
_actuator_pub(0),
_actuators {},
_drop_approval(false),
_doors_opened(0),
@ -190,7 +190,7 @@ BottleDrop::BottleDrop() :
_drop_position {},
_drop_state(DROP_STATE_INIT),
_onboard_mission {},
_onboard_mission_pub(-1)
_onboard_mission_pub(0)
{
}

7
src/modules/commander/commander.cpp
View File

@ -934,7 +934,7 @@ int commander_thread_main(int argc, char *argv[])
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
if (status_pub < 0) {
if (status_pub == 0) {
warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
warnx("exiting.");
px4_task_exit(ERROR);
@ -952,12 +952,12 @@ int commander_thread_main(int argc, char *argv[])
armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
/* home position */
orb_advert_t home_pub = -1;
orb_advert_t home_pub = 0;
struct home_position_s home;
memset(&home, 0, sizeof(home));
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
orb_advert_t mission_pub = -1;
orb_advert_t mission_pub = 0;
mission_s mission;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
@ -2124,7 +2124,6 @@ int commander_thread_main(int argc, char *argv[])
close(diff_pres_sub);
close(param_changed_sub);
close(battery_sub);
close(mission_pub);
thread_running = false;

10
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
View File

@ -129,11 +129,11 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_armedSub(-1),
/* publications */
_att_pub(-1),
_global_pos_pub(-1),
_local_pos_pub(-1),
_estimator_status_pub(-1),
_wind_pub(-1),
_att_pub(0),
_global_pos_pub(0),
_local_pos_pub(0),
_estimator_status_pub(0),
_wind_pub(0),
_att({}),
_gyro({}),

8
src/modules/fw_att_control/fw_att_control_main.cpp
View File

@ -337,10 +337,10 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_vehicle_status_sub(-1),
/* publications */
_rate_sp_pub(-1),
_attitude_sp_pub(-1),
_actuators_0_pub(-1),
_actuators_2_pub(-1),
_rate_sp_pub(0),
_attitude_sp_pub(0),
_actuators_0_pub(0),
_actuators_2_pub(0),
_rates_sp_id(0),
_actuators_id(0),

6
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -434,9 +434,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
_sensor_combined_sub(-1),
/* publications */
_attitude_sp_pub(-1),
_tecs_status_pub(-1),
_nav_capabilities_pub(-1),
_attitude_sp_pub(0),
_tecs_status_pub(0),
_nav_capabilities_pub(0),
/* states */
_att(),

3
src/modules/land_detector/LandDetector.cpp
View File

@ -44,7 +44,7 @@
#include <drivers/drv_hrt.h>
LandDetector::LandDetector() :
_landDetectedPub(-1),
_landDetectedPub(0),
_landDetected({0, false}),
_taskShouldExit(false),
_taskIsRunning(false)
@ -55,7 +55,6 @@ LandDetector::LandDetector() :
LandDetector::~LandDetector()
{
_taskShouldExit = true;
close(_landDetectedPub);
}
void LandDetector::shutdown()

5
src/modules/mavlink/mavlink_mission.cpp
View File

@ -81,7 +81,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m
_transfer_partner_compid(0),
_offboard_mission_sub(-1),
_mission_result_sub(-1),
_offboard_mission_pub(-1),
_offboard_mission_pub(0),
_slow_rate_limiter(_interval / 10.0f),
_verbose(false)
{
@ -93,7 +93,6 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(m
MavlinkMissionManager::~MavlinkMissionManager()
{
close(_offboard_mission_pub);
close(_mission_result_sub);
}
@ -150,7 +149,7 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int
_current_seq = seq;
/* mission state saved successfully, publish offboard_mission topic */
if (_offboard_mission_pub < 0) {
if (_offboard_mission_pub == 0) {
_offboard_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
} else {

4
src/modules/mavlink/mavlink_parameters.cpp
View File

@ -45,7 +45,7 @@
MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
_send_all_index(-1),
_rc_param_map_pub(-1),
_rc_param_map_pub(0),
_rc_param_map()
{
}
@ -162,7 +162,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
}
_rc_param_map.timestamp = hrt_absolute_time();
if (_rc_param_map_pub < 0) {
if (_rc_param_map_pub == 0) {
_rc_param_map_pub = orb_advertise(ORB_ID(rc_parameter_map), &_rc_param_map);
} else {

124
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -95,34 +95,34 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
hil_local_pos{},
hil_land_detector{},
_control_mode{},
_global_pos_pub(-1),
_local_pos_pub(-1),
_attitude_pub(-1),
_gps_pub(-1),
_sensors_pub(-1),
_gyro_pub(-1),
_accel_pub(-1),
_mag_pub(-1),
_baro_pub(-1),
_airspeed_pub(-1),
_battery_pub(-1),
_cmd_pub(-1),
_flow_pub(-1),
_distance_sensor_pub(-1),
_offboard_control_mode_pub(-1),
_actuator_controls_pub(-1),
_global_vel_sp_pub(-1),
_att_sp_pub(-1),
_rates_sp_pub(-1),
_force_sp_pub(-1),
_pos_sp_triplet_pub(-1),
_vicon_position_pub(-1),
_vision_position_pub(-1),
_telemetry_status_pub(-1),
_rc_pub(-1),
_manual_pub(-1),
_land_detector_pub(-1),
_time_offset_pub(-1),
_global_pos_pub(0),
_local_pos_pub(0),
_attitude_pub(0),
_gps_pub(0),
_sensors_pub(0),
_gyro_pub(0),
_accel_pub(0),
_mag_pub(0),
_baro_pub(0),
_airspeed_pub(0),
_battery_pub(0),
_cmd_pub(0),
_flow_pub(0),
_distance_sensor_pub(0),
_offboard_control_mode_pub(0),
_actuator_controls_pub(0),
_global_vel_sp_pub(0),
_att_sp_pub(0),
_rates_sp_pub(0),
_force_sp_pub(0),
_pos_sp_triplet_pub(0),
_vicon_position_pub(0),
_vision_position_pub(0),
_telemetry_status_pub(0),
_rc_pub(0),
_manual_pub(0),
_land_detector_pub(0),
_time_offset_pub(0),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_hil_frames(0),
_old_timestamp(0),
@ -314,7 +314,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
vcmd.source_component = msg->compid;
vcmd.confirmation = cmd_mavlink.confirmation;
if (_cmd_pub < 0) {
if (_cmd_pub == 0) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
@ -370,7 +370,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
vcmd.source_system = msg->sysid;
vcmd.source_component = msg->compid;
if (_cmd_pub < 0) {
if (_cmd_pub == 0) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
@ -410,7 +410,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
float zeroval = 0.0f;
rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
if (_flow_pub < 0) {
if (_flow_pub == 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
@ -461,7 +461,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
f.sensor_id = flow.sensor_id;
f.gyro_temperature = flow.temperature;
if (_flow_pub < 0) {
if (_flow_pub == 0) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
} else {
@ -515,7 +515,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
vcmd.source_component = msg->compid;
vcmd.confirmation = 1;
if (_cmd_pub < 0) {
if (_cmd_pub == 0) {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
} else {
@ -570,7 +570,7 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
vicon_position.pitch = pos.pitch;
vicon_position.yaw = pos.yaw;
if (_vicon_position_pub < 0) {
if (_vicon_position_pub == 0) {
_vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
} else {
@ -605,7 +605,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
if (_offboard_control_mode_pub == 0) {
_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
} else {
@ -630,7 +630,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
force_sp.y = set_position_target_local_ned.afy;
force_sp.z = set_position_target_local_ned.afz;
//XXX: yaw
if (_force_sp_pub < 0) {
if (_force_sp_pub == 0) {
_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
} else {
orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp);
@ -697,7 +697,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
//XXX handle global pos setpoints (different MAV frames)
if (_pos_sp_triplet_pub < 0) {
if (_pos_sp_triplet_pub == 0) {
_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
&pos_sp_triplet);
} else {
@ -740,7 +740,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
if (_offboard_control_mode_pub == 0) {
_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
} else {
orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
@ -763,7 +763,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
actuator_controls.control[i] = set_actuator_control_target.controls[i];
}
if (_actuator_controls_pub < 0) {
if (_actuator_controls_pub == 0) {
_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
} else {
orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls);
@ -804,7 +804,7 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
vision_position.q[2] = q(2);
vision_position.q[3] = q(3);
if (_vision_position_pub < 0) {
if (_vision_position_pub == 0) {
_vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position);
} else {
@ -857,7 +857,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
_offboard_control_mode.timestamp = hrt_absolute_time();
if (_offboard_control_mode_pub < 0) {
if (_offboard_control_mode_pub == 0) {
_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &_offboard_control_mode);
} else {
@ -892,7 +892,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
_att_sp.thrust = set_attitude_target.thrust;
}
if (_att_sp_pub < 0) {
if (_att_sp_pub == 0) {
_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
} else {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
@ -912,7 +912,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
_rates_sp.thrust = set_attitude_target.thrust;
}
if (_att_sp_pub < 0) {
if (_att_sp_pub == 0) {
_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp);
} else {
orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &_rates_sp);
@ -948,7 +948,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
tstatus.system_id = msg->sysid;
tstatus.component_id = msg->compid;
if (_telemetry_status_pub < 0) {
if (_telemetry_status_pub == 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
@ -974,7 +974,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
// warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
if (_manual_pub < 0) {
if (_manual_pub == 0) {
_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
} else {
@ -1001,7 +1001,7 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
tstatus.timestamp = hrt_absolute_time();
tstatus.heartbeat_time = tstatus.timestamp;
if (_telemetry_status_pub < 0) {
if (_telemetry_status_pub == 0) {
_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
} else {
@ -1105,7 +1105,7 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
tsync_offset.offset_ns = _time_offset ;
if (_time_offset_pub < 0) {
if (_time_offset_pub == 0) {
_time_offset_pub = orb_advertise(ORB_ID(time_offset), &tsync_offset);
} else {
@ -1135,7 +1135,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
airspeed.indicated_airspeed_m_s = ias;
airspeed.true_airspeed_m_s = tas;
if (_airspeed_pub < 0) {
if (_airspeed_pub == 0) {
_airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed);
} else {
@ -1157,7 +1157,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
gyro.z = imu.zgyro;
gyro.temperature = imu.temperature;
if (_gyro_pub < 0) {
if (_gyro_pub == 0) {
_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
} else {
@ -1179,7 +1179,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
accel.z = imu.zacc;
accel.temperature = imu.temperature;
if (_accel_pub < 0) {
if (_accel_pub == 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
@ -1200,7 +1200,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
mag.y = imu.ymag;
mag.z = imu.zmag;
if (_mag_pub < 0) {
if (_mag_pub == 0) {
/* publish to the first mag topic */
_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
@ -1219,7 +1219,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
baro.altitude = imu.pressure_alt;
baro.temperature = imu.temperature;
if (_baro_pub < 0) {
if (_baro_pub == 0) {
_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
} else {
@ -1275,7 +1275,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_sensors.differential_pressure_timestamp = timestamp;
/* publish combined sensor topic */
if (_sensors_pub < 0) {
if (_sensors_pub == 0) {
_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
} else {
@ -1294,7 +1294,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
if (_battery_pub < 0) {
if (_battery_pub == 0) {
_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
} else {
@ -1348,7 +1348,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used?
if (_gps_pub < 0) {
if (_gps_pub == 0) {
_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
} else {
@ -1373,7 +1373,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
if (_airspeed_pub < 0) {
if (_airspeed_pub == 0) {
_airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed);
} else {
@ -1406,7 +1406,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
if (_attitude_pub < 0) {
if (_attitude_pub == 0) {
_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
} else {
@ -1430,7 +1430,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_global_pos.eph = 2.0f;
hil_global_pos.epv = 4.0f;
if (_global_pos_pub < 0) {
if (_global_pos_pub == 0) {
_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
} else {
@ -1471,7 +1471,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;
if (_local_pos_pub < 0) {
if (_local_pos_pub == 0) {
_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
} else {
@ -1486,7 +1486,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_land_detector.landed = landed;
hil_land_detector.timestamp = hrt_absolute_time();
if (_land_detector_pub < 0) {
if (_land_detector_pub == 0) {
_land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &hil_land_detector);
} else {
@ -1509,7 +1509,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
accel.z = hil_state.zacc;
accel.temperature = 25.0f;
if (_accel_pub < 0) {
if (_accel_pub == 0) {
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
} else {
@ -1528,7 +1528,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_battery_status.current_a = 10.0f;
hil_battery_status.discharged_mah = -1.0f;
if (_battery_pub < 0) {
if (_battery_pub == 0) {
_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
} else {

8
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -314,10 +314,10 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_vehicle_status_sub(-1),
/* publications */
_att_sp_pub(-1),
_v_rates_sp_pub(-1),
_actuators_0_pub(-1),
_controller_status_pub(-1),
_att_sp_pub(0),
_v_rates_sp_pub(0),
_actuators_0_pub(0),
_controller_status_pub(0),
_rates_sp_id(0),
_actuators_id(0),

6
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -307,9 +307,9 @@ MulticopterPositionControl::MulticopterPositionControl() :
_global_vel_sp_sub(-1),
/* publications */
_att_sp_pub(-1),
_local_pos_sp_pub(-1),
_global_vel_sp_pub(-1),
_att_sp_pub(0),
_local_pos_sp_pub(0),
_global_vel_sp_pub(0),
_ref_alt(0.0f),
_ref_timestamp(0),

4
src/modules/navigator/geofence.cpp
View File

@ -69,7 +69,7 @@ static const int ERROR = -1;
Geofence::Geofence() :
SuperBlock(NULL, "GF"),
_fence_pub(-1),
_fence_pub(0),
_home_pos{},
_home_pos_set(false),
_last_horizontal_range_warning(0),
@ -317,7 +317,7 @@ Geofence::addPoint(int argc, char *argv[])
void
Geofence::publishFence(unsigned vertices)
{
if (_fence_pub == -1) {
if (_fence_pub == 0) {
_fence_pub = orb_advertise(ORB_ID(fence), &vertices);
} else {

8
src/modules/navigator/navigator_main.cpp
View File

@ -108,10 +108,10 @@ Navigator::Navigator() :
_onboard_mission_sub(-1),
_offboard_mission_sub(-1),
_param_update_sub(-1),
_pos_sp_triplet_pub(-1),
_mission_result_pub(-1),
_geofence_result_pub(-1),
_att_sp_pub(-1),
_pos_sp_triplet_pub(0),
_mission_result_pub(0),
_geofence_result_pub(0),
_att_sp_pub(0),
_vstatus{},
_control_mode{},
_global_pos{},

4
src/modules/position_estimator_inav/position_estimator_inav_main.c
View File

@ -343,7 +343,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* advertise */
orb_advert_t vehicle_local_position_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos);
orb_advert_t vehicle_global_position_pub = -1;
orb_advert_t vehicle_global_position_pub = 0;
struct position_estimator_inav_params params;
struct position_estimator_inav_param_handles pos_inav_param_handles;
@ -1158,7 +1158,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
global_pos.eph = eph;
global_pos.epv = epv;
if (vehicle_global_position_pub < 0) {
if (vehicle_global_position_pub == 0) {
vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
} else {

6
src/modules/sdlog2/sdlog2.c
View File

@ -373,8 +373,7 @@ int sdlog2_main(int argc, char *argv[])
cmd.param1 = -1;
cmd.param2 = -1;
cmd.param3 = 1;
int fd = orb_advertise(ORB_ID(vehicle_command), &cmd);
close(fd);
orb_advertise(ORB_ID(vehicle_command), &cmd);
return 0;
}
@ -384,8 +383,7 @@ int sdlog2_main(int argc, char *argv[])
cmd.param1 = -1;
cmd.param2 = -1;
cmd.param3 = 2;
int fd = orb_advertise(ORB_ID(vehicle_command), &cmd);
close(fd);
orb_advertise(ORB_ID(vehicle_command), &cmd);
return 0;
}

14
src/modules/sensors/sensors.cpp
View File

@ -517,13 +517,13 @@ Sensors::Sensors() :
_manual_control_sub(-1),
/* publications */
_sensor_pub(-1),
_manual_control_pub(-1),
_actuator_group_3_pub(-1),
_rc_pub(-1),
_battery_pub(-1),
_airspeed_pub(-1),
_diff_pres_pub(-1),
_sensor_pub(0),
_manual_control_pub(0),
_actuator_group_3_pub(0),
_rc_pub(0),
_battery_pub(0),
_airspeed_pub(0),
_diff_pres_pub(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),

4
src/modules/simulator/simulator_mavlink.cpp
View File

@ -157,7 +157,7 @@ void Simulator::handle_message(mavlink_message_t *msg) {
fill_sensors_from_imu_msg(&_sensor, &imu);
// publish message
if(_sensor_combined_pub < 0) {
if(_sensor_combined_pub == 0) {
_sensor_combined_pub = orb_advertise(ORB_ID(sensor_combined), &_sensor);
} else {
orb_publish(ORB_ID(sensor_combined), _sensor_combined_pub, &_sensor);
@ -171,7 +171,7 @@ void Simulator::handle_message(mavlink_message_t *msg) {
fill_manual_control_sp_msg(&_manual_control_sp, &man_ctrl_sp);
// publish message
if(_manual_control_sp_pub < 0) {
if(_manual_control_sp_pub == 0) {
_manual_control_sp_pub = orb_advertise(ORB_ID(manual_control_setpoint), &_manual_control_sp);
} else {
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_sp_pub, &_manual_control_sp);

4
src/modules/systemlib/param/param.c
View File

@ -130,7 +130,7 @@ const UT_icd param_icd = {sizeof(struct param_wbuf_s), NULL, NULL, NULL};
ORB_DEFINE(parameter_update, struct parameter_update_s);
/** parameter update topic handle */
static orb_advert_t param_topic = -1;
static orb_advert_t param_topic = 0;
static void param_set_used_internal(param_t param);
@ -233,7 +233,7 @@ param_notify_changes(void)
* If we don't have a handle to our topic, create one now; otherwise
* just publish.
*/
if (param_topic == -1) {
if (param_topic == 0) {
param_topic = orb_advertise(ORB_ID(parameter_update), &pup);
} else {

2
src/modules/uORB/uORB.h
View File

@ -135,7 +135,7 @@ __BEGIN_DECLS
* a file-descriptor-based handle would not otherwise be in scope for the
* publisher.
*/
typedef intptr_t orb_advert_t;
typedef uintptr_t orb_advert_t;
/**
* Advertise as the publisher of a topic.

6
src/modules/uORB/uORBManager_nuttx.cpp
View File

@ -89,18 +89,18 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
/* open the node as an advertiser */
fd = node_open(PUBSUB, meta, data, true, instance, priority);
if (fd == ERROR)
return ERROR;
return 0;
/* get the advertiser handle and close the node */
result = ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
close(fd);
if (result == ERROR)
return ERROR;
return 0;
/* the advertiser must perform an initial publish to initialise the object */
result = orb_publish(meta, advertiser, data);
if (result == ERROR)
return ERROR;
return 0;
return advertiser;
}

6
src/modules/uORB/uORBManager_posix.cpp
View File

@ -94,7 +94,7 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
fd = node_open(PUBSUB, meta, data, true, instance, priority);
if (fd == ERROR) {
warnx("node_open as advertiser failed.");
return ERROR;
return 0;
}
/* get the advertiser handle and close the node */
@ -102,14 +102,14 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
px4_close(fd);
if (result == ERROR) {
warnx("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
return ERROR;
return 0;
}
/* the advertiser must perform an initial publish to initialise the object */
result = orb_publish(meta, advertiser, data);
if (result == ERROR) {
warnx("orb_publish failed");
return ERROR;
return 0;
}
return advertiser;

14
src/modules/uORB/uORBTest_UnitTest.cpp
View File

@ -137,16 +137,17 @@ int uORBTest::UnitTest::pubsublatency_main(void)
int uORBTest::UnitTest::test()
{
struct orb_test t, u;
int pfd, sfd;
int sfd;
orb_advert_t ptopic;
bool updated;
t.val = 0;
pfd = orb_advertise(ORB_ID(orb_test), &t);
ptopic = orb_advertise(ORB_ID(orb_test), &t);
if (pfd < 0)
if (ptopic == 0)
return test_fail("advertise failed: %d", errno);
test_note("publish handle 0x%08x", pfd);
test_note("publish handle 0x%08x", ptopic);
sfd = orb_subscribe(ORB_ID(orb_test));
if (sfd < 0)
@ -170,7 +171,7 @@ int uORBTest::UnitTest::test()
t.val = 2;
test_note("try publish");
if (PX4_OK != orb_publish(ORB_ID(orb_test), pfd, &t))
if (PX4_OK != orb_publish(ORB_ID(orb_test), ptopic, &t))
return test_fail("publish failed");
if (PX4_OK != orb_check(sfd, &updated))
@ -186,7 +187,6 @@ int uORBTest::UnitTest::test()
return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
orb_unsubscribe(sfd);
close(pfd);
/* this routine tests the multi-topic support */
test_note("try multi-topic support");
@ -197,7 +197,7 @@ int uORBTest::UnitTest::test()
test_note("advertised");
int instance1;
int pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
orb_advert_t pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
if (instance0 != 0)
return test_fail("mult. id0: %d", instance0);

4
src/modules/uORB/uORBTest_UnitTest.hpp
View File

@ -98,7 +98,7 @@ int uORBTest::UnitTest::latency_test(orb_id_t T, bool print)
t.val = 308;
t.time = hrt_absolute_time();
int pfd0 = orb_advertise(T, &t);
orb_advert_t pfd0 = orb_advertise(T, &t);
char * const args[1] = { NULL };
@ -128,8 +128,6 @@ int uORBTest::UnitTest::latency_test(orb_id_t T, bool print)
usleep(1000);
}
px4_close(pfd0);
if (pubsub_task < 0) {
return test_fail("failed launching task");
}

2
src/modules/uavcan/sensors/gnss.cpp
View File

@ -48,7 +48,7 @@ const char *const UavcanGnssBridge::NAME = "gnss";
UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
_node(node),
_sub_fix(node),
_report_pub(-1)
_report_pub(0)
{
}

2
src/modules/uavcan/sensors/sensor_bridge.cpp
View File

@ -119,7 +119,7 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
channel->class_instance = class_instance;
channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_HIGH);
if (channel->orb_advert < 0) {
if (channel->orb_advert == 0) {
log("ADVERTISE FAILED");
(void)unregister_class_devname(_class_devname, class_instance);
*channel = Channel();

8
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -230,10 +230,10 @@ VtolAttitudeControl::VtolAttitudeControl() :
_battery_status_sub(-1),
//init publication handlers
_actuators_0_pub(-1),
_actuators_1_pub(-1),
_vtol_vehicle_status_pub(-1),
_v_rates_sp_pub(-1),
_actuators_0_pub(0),
_actuators_1_pub(0),
_vtol_vehicle_status_pub(0),
_v_rates_sp_pub(0),
_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control nonfinite input"))

6
src/platforms/posix/drivers/accelsim/accelsim.cpp
View File

@ -369,7 +369,7 @@ ACCELSIM::ACCELSIM(const char* path, enum Rotation rotation) :
_mag_range_ga(0.0f),
_mag_range_scale(0.0f),
_mag_samplerate(0),
_accel_topic(-1),
_accel_topic(0),
_accel_orb_class_instance(-1),
_accel_class_instance(-1),
_accel_read(0),
@ -496,7 +496,7 @@ ACCELSIM::init()
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
&_accel_orb_class_instance, ORB_PRIO_DEFAULT);
if (_accel_topic == (orb_advert_t)(-1)) {
if (_accel_topic == 0) {
PX4_WARN("ADVERT ERR");
}
@ -1077,7 +1077,7 @@ ACCELSIM::measure()
// The first call to measure() is from init() and _accel_topic is not
// yet initialized
if (_accel_topic != (orb_advert_t)(-1)) {
if (_accel_topic != 0) {
orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
}
}

6
src/platforms/posix/drivers/airspeedsim/airspeedsim.cpp
View File

@ -83,8 +83,8 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
_measure_ticks(0),
_collect_phase(false),
_diff_pres_offset(0.0f),
_airspeed_pub(-1),
_subsys_pub(-1),
_airspeed_pub(0),
_subsys_pub(0),
_class_instance(-1),
_conversion_interval(conversion_interval),
_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
@ -143,7 +143,7 @@ Airspeed::init()
/* measurement will have generated a report, publish */
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
if (_airspeed_pub < 0)
if (_airspeed_pub == 0)
PX4_WARN("uORB started?");
}

6
src/platforms/posix/drivers/barosim/baro.cpp
View File

@ -213,7 +213,7 @@ BAROSIM::BAROSIM(device::Device *interface, barosim::prom_u &prom_buf, const cha
_OFF(0),
_SENS(0),
_msl_pressure(101325),
_baro_topic(-1),
_baro_topic(0),
_orb_class_instance(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "barosim_read")),
@ -315,7 +315,7 @@ BAROSIM::init()
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
if (_baro_topic == (orb_advert_t)(-1)) {
if (_baro_topic == 0) {
PX4_ERR("failed to create sensor_baro publication");
}
//PX4_WARN("sensor_baro publication %ld", _baro_topic);
@ -722,7 +722,7 @@ BAROSIM::collect()
/* publish it */
if (!(_pub_blocked)) {
if (_baro_topic != (orb_advert_t)(-1)) {
if (_baro_topic != 0) {
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
}

8
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
View File

@ -472,7 +472,7 @@ GYROSIM::GYROSIM(const char *path_accel, const char *path_gyro, enum Rotation ro
_accel_scale{},
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_accel_topic(0),
_accel_orb_class_instance(-1),
_accel_class_instance(-1),
_gyro_reports(nullptr),
@ -624,7 +624,7 @@ GYROSIM::init()
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
&_accel_orb_class_instance, ORB_PRIO_HIGH);
if (_accel_topic < 0) {
if (_accel_topic == 0) {
PX4_WARN("ADVERT FAIL");
}
@ -636,7 +636,7 @@ GYROSIM::init()
_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
&_gyro->_gyro_orb_class_instance, ORB_PRIO_HIGH);
if (_gyro->_gyro_topic < 0) {
if (_gyro->_gyro_topic == 0) {
PX4_WARN("ADVERT FAIL");
}
@ -1547,7 +1547,7 @@ GYROSIM::print_registers()
GYROSIM_gyro::GYROSIM_gyro(GYROSIM *parent, const char *path) :
VDev("GYROSIM_gyro", path),
_parent(parent),
_gyro_topic(-1),
_gyro_topic(0),
_gyro_orb_class_instance(-1),
_gyro_class_instance(-1)
{

2
src/systemcmds/motor_test/motor_test.c
View File

@ -59,7 +59,7 @@ __EXPORT int motor_test_main(int argc, char *argv[]);
static void motor_test(unsigned channel, float value);
static void usage(const char *reason);
static orb_advert_t _test_motor_pub;
static orb_advert_t _test_motor_pub = 0;
void motor_test(unsigned channel, float value)
{