forked from Archive/PX4-Autopilot
Fixed support for clang 3.5
"clang-3.5 -dumpversion" returns 4.2.1 as the GCC version. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
parent
a68f025ff9
commit
aeb65702a2
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@ -50,7 +50,7 @@ HAVE_CLANG=$(shell clang -dumpversion)
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USE_GCC=1
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#If using ubuntu 14.04 and packaged clang 4.2.1
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ifeq ($(HAVE_CLANG35),3.5)
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ifeq ($(HAVE_CLANG35),4.2.1)
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USE_GCC=0
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CLANGVER=-3.5
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else
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@ -36,7 +36,11 @@
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* A lightweight object broker.
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*/
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#include <px4_config.h>
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#include <px4_platform.h>
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#include <px4_device.h>
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#include <px4_defines.h>
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#include <px4_tasks.h>
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#include <px4_posix.h>
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#include <drivers/device/device.h>
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@ -46,16 +50,12 @@
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#include <string.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <systemlib/err.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <systemlib/systemlib.h>
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#include <drivers/drv_hrt.h>
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@ -123,17 +123,17 @@ public:
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ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path, int priority);
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~ORBDevNode();
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virtual int open(struct file *filp);
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virtual int close(struct file *filp);
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int open(device::px4_dev_handle_t *handlep);
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virtual int close(device::px4_dev_handle_t *handlep);
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virtual ssize_t read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
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virtual ssize_t write(device::px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
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virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
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static ssize_t publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
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protected:
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virtual pollevent_t poll_state(struct file *filp);
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virtual void poll_notify_one(struct pollfd *fds, pollevent_t events);
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virtual pollevent_t poll_state(device::px4_dev_handle_t *handlep);
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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 SubscriberData {
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@ -152,8 +152,8 @@ private:
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pid_t _publisher; /**< if nonzero, current publisher */
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const int _priority; /**< priority of topic */
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SubscriberData *filp_to_sd(struct file *filp) {
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SubscriberData *sd = (SubscriberData *)(filp->f_priv);
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SubscriberData *handlep_to_sd(device::px4_dev_handle_t *handlep) {
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SubscriberData *sd = (SubscriberData *)(handlep->priv);
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return sd;
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}
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@ -199,12 +199,12 @@ ORBDevNode::~ORBDevNode()
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}
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int
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ORBDevNode::open(struct file *filp)
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ORBDevNode::open(device::px4_dev_handle_t *handlep)
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{
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int ret;
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/* is this a publisher? */
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if (filp->f_oflags == O_WRONLY) {
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if (handlep->flags == PX4_F_WRONLY) {
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/* become the publisher if we can */
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lock();
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@ -221,7 +221,7 @@ ORBDevNode::open(struct file *filp)
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/* now complete the open */
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if (ret == OK) {
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ret = CDev::open(filp);
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ret = CDev::open(handlep);
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/* open failed - not the publisher anymore */
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if (ret != OK)
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@ -232,7 +232,7 @@ ORBDevNode::open(struct file *filp)
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}
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/* is this a new subscriber? */
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if (filp->f_oflags == O_RDONLY) {
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if (handlep->flags == PX4_F_RDONLY) {
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/* allocate subscriber data */
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SubscriberData *sd = new SubscriberData;
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@ -248,9 +248,9 @@ ORBDevNode::open(struct file *filp)
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/* set priority */
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sd->priority = _priority;
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filp->f_priv = (void *)sd;
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handlep->priv = (void *)sd;
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ret = CDev::open(filp);
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ret = CDev::open(handlep);
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if (ret != OK)
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delete sd;
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@ -263,14 +263,14 @@ ORBDevNode::open(struct file *filp)
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}
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int
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ORBDevNode::close(struct file *filp)
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ORBDevNode::close(device::px4_dev_handle_t *handlep)
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{
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/* is this the publisher closing? */
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if (getpid() == _publisher) {
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_publisher = 0;
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} else {
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SubscriberData *sd = filp_to_sd(filp);
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SubscriberData *sd = handlep_to_sd(handlep);
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if (sd != nullptr) {
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hrt_cancel(&sd->update_call);
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@ -278,13 +278,13 @@ ORBDevNode::close(struct file *filp)
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}
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}
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return CDev::close(filp);
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return CDev::close(handlep);
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}
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ssize_t
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ORBDevNode::read(struct file *filp, char *buffer, size_t buflen)
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ORBDevNode::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
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{
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SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
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SubscriberData *sd = (SubscriberData *)handlep_to_sd(handlep);
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/* if the object has not been written yet, return zero */
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if (_data == nullptr)
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@ -321,7 +321,7 @@ ORBDevNode::read(struct file *filp, char *buffer, size_t buflen)
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}
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ssize_t
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ORBDevNode::write(struct file *filp, const char *buffer, size_t buflen)
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ORBDevNode::write(device::px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
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{
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/*
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* Writes are legal from interrupt context as long as the
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@ -330,7 +330,7 @@ ORBDevNode::write(struct file *filp, const char *buffer, size_t buflen)
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* Writes outside interrupt context will allocate the object
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* if it has not yet been allocated.
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*
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* Note that filp will usually be NULL.
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* Note that handlep will usually be NULL.
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*/
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if (nullptr == _data) {
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if (!up_interrupt_context()) {
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@ -369,9 +369,9 @@ ORBDevNode::write(struct file *filp, const char *buffer, size_t buflen)
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}
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int
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ORBDevNode::ioctl(struct file *filp, int cmd, unsigned long arg)
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ORBDevNode::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
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{
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SubscriberData *sd = filp_to_sd(filp);
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SubscriberData *sd = handlep_to_sd(handlep);
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switch (cmd) {
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case ORBIOCLASTUPDATE:
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@ -396,7 +396,7 @@ ORBDevNode::ioctl(struct file *filp, int cmd, unsigned long arg)
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default:
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/* give it to the superclass */
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return CDev::ioctl(filp, cmd, arg);
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return CDev::ioctl(handlep, cmd, arg);
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}
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}
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@ -427,9 +427,9 @@ ORBDevNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *d
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}
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pollevent_t
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ORBDevNode::poll_state(struct file *filp)
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ORBDevNode::poll_state(device::px4_dev_handle_t *handlep)
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{
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SubscriberData *sd = filp_to_sd(filp);
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SubscriberData *sd = handlep_to_sd(handlep);
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/*
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* If the topic appears updated to the subscriber, say so.
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@ -441,9 +441,9 @@ ORBDevNode::poll_state(struct file *filp)
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}
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void
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ORBDevNode::poll_notify_one(struct pollfd *fds, pollevent_t events)
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ORBDevNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
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{
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SubscriberData *sd = filp_to_sd((struct file *)fds->priv);
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SubscriberData *sd = handlep_to_sd((device::px4_dev_handle_t *)fds->priv);
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/*
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* If the topic looks updated to the subscriber, go ahead and notify them.
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@ -560,7 +560,7 @@ public:
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ORBDevMaster(Flavor f);
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~ORBDevMaster();
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
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private:
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Flavor _flavor;
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};
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@ -580,7 +580,7 @@ ORBDevMaster::~ORBDevMaster()
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}
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int
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ORBDevMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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ORBDevMaster::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
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{
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int ret;
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@ -632,6 +632,7 @@ ORBDevMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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devpath = strdup(nodepath);
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if (devpath == nullptr) {
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// FIXME - looks like we leaked memory here for objname
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return -ENOMEM;
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}
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@ -641,6 +642,8 @@ ORBDevMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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/* if we didn't get a device, that's bad */
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if (node == nullptr) {
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unlock();
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// FIXME - looks like we leaked memory here for devpath and objname
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return -ENOMEM;
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}
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@ -670,7 +673,7 @@ ORBDevMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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default:
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/* give it to the superclass */
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return CDev::ioctl(filp, cmd, arg);
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return CDev::ioctl(handlep, cmd, arg);
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}
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}
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@ -745,7 +748,7 @@ int pubsublatency_main(void)
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float latency_integral = 0.0f;
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/* wakeup source(s) */
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struct pollfd fds[3];
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px4_pollfd_struct_t fds[3];
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int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test), 0);
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int test_multi_sub_medium = orb_subscribe_multi(ORB_ID(orb_test_medium), 0);
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@ -772,7 +775,7 @@ int pubsublatency_main(void)
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for (unsigned i = 0; i < maxruns; i++) {
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/* wait for up to 500ms for data */
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int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
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if (fds[0].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
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timingsgroup = 0;
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@ -965,11 +968,11 @@ latency_test(orb_id_t T, bool print)
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/* test pub / sub latency */
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int pubsub_task = task_spawn_cmd("uorb_latency",
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int pubsub_task = px4_task_spawn_cmd("uorb_latency",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 5,
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1500,
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(main_t)&pubsublatency_main,
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(px4_main_t)&pubsublatency_main,
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nullptr);
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/* give the test task some data */
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@ -1092,13 +1095,13 @@ node_advertise(const struct orb_metadata *meta, int *instance = nullptr, int pri
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const struct orb_advertdata adv = { meta, instance, priority };
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/* open the control device */
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fd = open(TOPIC_MASTER_DEVICE_PATH, 0);
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fd = px4_open(TOPIC_MASTER_DEVICE_PATH, 0);
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if (fd < 0)
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goto out;
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/* advertise the object */
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ret = ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)&adv);
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ret = px4_ioctl(fd, ORBIOCADVERTISE, (unsigned long)(uintptr_t)&adv);
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/* it's OK if it already exists */
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if ((OK != ret) && (EEXIST == errno)) {
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@ -1108,7 +1111,7 @@ node_advertise(const struct orb_metadata *meta, int *instance = nullptr, int pri
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out:
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if (fd >= 0)
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close(fd);
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px4_close(fd);
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return ret;
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}
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@ -1145,6 +1148,9 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve
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/*
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* Generate the path to the node and try to open it.
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*/
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// FIXME - if *instance is uninitialized, why is this being called? Seems risky and
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// its definiately a waste. This is the case in muli-topic test.
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ret = node_mkpath(path, f, meta, instance);
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if (ret != OK) {
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@ -1153,12 +1159,13 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve
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}
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/* open the path as either the advertiser or the subscriber */
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fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
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fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
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/* if we want to advertise and the node existed, we have to re-try again */
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if ((fd >= 0) && (instance != nullptr) && (advertiser)) {
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/* close the fd, we want a new one */
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close(fd);
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px4_close(fd);
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/* the node_advertise call will automatically go for the next free entry */
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fd = -1;
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}
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@ -1181,7 +1188,7 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve
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/* on success, try the open again */
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if (ret == OK) {
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fd = open(path, (advertiser) ? O_WRONLY : O_RDONLY);
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fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
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}
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}
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@ -1214,8 +1221,8 @@ orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *inst
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return ERROR;
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/* get the advertiser handle and close the node */
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result = ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
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close(fd);
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result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
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px4_close(fd);
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if (result == ERROR)
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return ERROR;
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@ -1243,7 +1250,7 @@ orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
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int
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orb_unsubscribe(int handle)
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{
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return close(handle);
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return px4_close(handle);
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}
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int
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@ -1257,7 +1264,7 @@ orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
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{
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int ret;
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ret = read(handle, buffer, meta->o_size);
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ret = px4_read(handle, (char *)buffer, meta->o_size);
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if (ret < 0)
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return ERROR;
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@ -1273,24 +1280,24 @@ orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
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int
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orb_check(int handle, bool *updated)
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{
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return ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
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return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
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}
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int
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orb_stat(int handle, uint64_t *time)
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{
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return ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
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return px4_ioctl(handle, ORBIOCLASTUPDATE, (unsigned long)(uintptr_t)time);
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}
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int
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orb_priority(int handle, int *priority)
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{
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return ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
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return px4_ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
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}
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int
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orb_set_interval(int handle, unsigned interval)
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{
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return ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
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return px4_ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
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}
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