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Clean up of px4_defines.h (remove math.h) 

This patch reorders px4_defines.h to make it more readable (I think)
but more importantly, cleans up the #include <math.h>/<cmath>
and [std::]isfinite stuff.

My main goal was to completely get rid of including math.h/cmath,
because that doesn't really belong in a header that is supposed to
define macro's and is included in almost every source file (if not
all).

I'm not sure what it did before ;) (pun intended), but now it does
the following:

PX4_ISFINITE is only used in C++ code (that was already the case,
but hereby is official; for C code just use 'isfinite()') and is
defined to be std::isfinite, except on __PX4_QURT because that uses
the HEXAGON toolset which (erroneously) defines isfinite as macro.

I would have liked to remove PX4_ISFINITE completely from the code
and just use std::isfinite whereever that is needed, but that would
have required changing the libecl submodule, and at the moment I'm
getting tired of changing submodules... so maybe something for the
future.

Also, all includes of <math.h> or <cmath> have been removed except
for __PX4_NUTTX. Like the HEXAGON toolset NuttX currently defines
isfinite as macro for C++. So, we could have solved this in the
same was as __P4_QURT; but since we can fix NuttX ourselves I chose
to add a kludge to px4_defines.h instead that fixes this problem,
until the time that NuttX can be fixed (again postponing changing
a submodule). The kludge still demands including <cmath>, thus.

After removal of the math header file, it needed to be included
in source files that actually need it, of course.

Finally, I had a look at the math macro's (like M_PI, M_PI_F,
M_DEG_TO_RAD etc). These are sometimes (erroneously) defined in
certain math.h header files (like both, hexagon and nuttx).
This is incorrect: neither the C nor the C++ standard defines
math constants (neither as macro nor otherwise). The "problem"
here was that px4_defines.h defined some of the M_*_F float
constants in terms of the M_* double constant, which are
sometimes not defined either thus. So, I cleaned this up by
defining the M_*_F math constants as float literals in px4_defines.h,
except when they are defined in math.h for that platform.
This means that math.h has to be always included when using those
constants, but well; not much difference there as those files
usually also need/use the macro NAN (which *is* a standard macro
defined by math.h).

Finally finally, DEFAULT_PARAM_FILE was removed as it isn't
used anymore.

All in all I think the resulting px4_defines.h is nice, giving me
much less the feeling of a nearly unmaintainable and over time
slowly growing collection of kludges and hacks.
This commit is contained in:
Carlo Wood 2016-10-24 18:05:04 +02:00 committed by Lorenz Meier
parent e29b9b5d39
commit baf89f4398
11 changed files with 124 additions and 126 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/drivers/frsky_telemetry/frsky_telemetry.c
View File

@ -58,6 +58,7 @@
#include <termios.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_baro.h>
#include <math.h> // NAN
#include "sPort_data.h"
#include "frsky_data.h"

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

@ -545,7 +545,7 @@ MK::task_main()
for (unsigned int i = 0; i < _num_outputs; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
if (i < outputs.noutputs &&
isfinite(outputs.output[i]) &&
PX4_ISFINITE(outputs.output[i]) &&
outputs.output[i] >= -1.0f &&
outputs.output[i] <= 1.0f) {
/* scale for PWM output 900 - 2100us */

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

@ -37,6 +37,7 @@
#include <px4_getopt.h>
#include <px4_posix.h>
#include <errno.h>
#include <cmath> // NAN
#include <uORB/uORB.h>
#include <uORB/topics/actuator_controls.h>

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

@ -38,6 +38,7 @@
#include <px4_posix.h>
#include <errno.h>
#include <termios.h>
#include <cmath> // NAN
#include <systemlib/px4_macros.h>
#include <drivers/device/device.h>

2
src/lib/mathlib/math/Matrix.hpp
View File

@ -44,7 +44,7 @@
#define MATRIX_HPP
#include <stdio.h>
#include <math.h>
#include <cmath>
#include "matrix/math.hpp"
#include <platforms/px4_defines.h>

6
src/lib/mathlib/math/filter/LowPassFilter2p.cpp
View File

@ -39,11 +39,7 @@
#include <px4_defines.h>
#include "LowPassFilter2p.hpp"
#include "math.h"
#ifndef M_PI_F
#define M_PI_F 3.14159f
#endif
#include <cmath>
namespace math
{

2
src/modules/commander/commander.cpp
View File

@ -44,6 +44,8 @@
* @author Sander Smeets <sander@droneslab.com>
*/
#include <cmath> // NAN
/* commander module headers */
#include "accelerometer_calibration.h"
#include "airspeed_calibration.h"

1
src/modules/mavlink/mavlink_main.cpp
View File

@ -54,7 +54,6 @@
#include <poll.h>
#include <termios.h>
#include <time.h>
#include <math.h> /* isinf / isnan checks */
#ifdef __PX4_POSIX
#include <net/if.h>

10
src/modules/position_estimator_inav/inertial_filter.cpp
View File

@ -5,14 +5,14 @@
* Author: Anton Babushkin <rk3dov@gmail.com>
*/
#include <math.h>
#include "px4_defines.h"
#include "inertial_filter.h"
#include <cmath>
void inertial_filter_predict(float dt, float x[2], float acc)
{
if (isfinite(dt)) {
if (!isfinite(acc)) {
if (PX4_ISFINITE(dt)) {
if (!PX4_ISFINITE(acc)) {
acc = 0.0f;
}
@ -23,7 +23,7 @@ void inertial_filter_predict(float dt, float x[2], float acc)
void inertial_filter_correct(float e, float dt, float x[2], int i, float w)
{
if (isfinite(e) && isfinite(w) && isfinite(dt)) {
if (PX4_ISFINITE(e) && PX4_ISFINITE(w) && PX4_ISFINITE(dt)) {
float ewdt = e * w * dt;
x[i] += ewdt;

1
src/modules/systemlib/param/param.c
View File

@ -54,6 +54,7 @@
#include <systemlib/err.h>
#include <errno.h>
#include <semaphore.h>
#include <math.h>
#include <sys/stat.h>

223
src/platforms/px4_defines.h
View File

@ -40,7 +40,10 @@
#pragma once
#include <px4_log.h>
#include <math.h>
/****************************************************************************
* Defines for all platforms.
****************************************************************************/
/* Get the name of the default value fiven the param name */
#define PX4_PARAM_DEFAULT_VALUE_NAME(_name) PARAM_##_name##_DEFAULT
@ -52,10 +55,21 @@
#define PX4_ERROR (-1)
#define PX4_OK 0
/* Wrapper for 2d matrices */
#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])
/* Wrapper for rotation matrices stored in arrays */
#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
/* Define a usable PX4_ISFINITE. Note that PX4_ISFINITE is ONLY used in C++ files,
* therefore, by default, we want to use std::isfinite. */
# define PX4_ISFINITE(x) std::isfinite(x)
#if defined(__PX4_ROS)
/*
* Building for running within the ROS environment
*/
/****************************************************************************
* Building for running within the ROS environment.
****************************************************************************/
#define noreturn_function
#ifdef __cplusplus
#include "ros/ros.h"
@ -67,12 +81,11 @@
/* Get value of parameter by name, which is equal to the handle for ros */
#define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
#define PX4_ISFINITE(x) std::isfinite(x)
#elif defined(__PX4_NUTTX) || defined(__PX4_POSIX)
/*
* Building for NuttX or POSIX
*/
/****************************************************************************
* Building for NuttX or POSIX.
****************************************************************************/
#include <platforms/px4_includes.h>
/* Main entry point */
#define PX4_MAIN_FUNCTION(_prefix) int _prefix##_task_main(int argc, char *argv[])
@ -84,43 +97,56 @@ typedef param_t px4_param_t;
/* Get value of parameter by name */
#define PX4_PARAM_GET_BYNAME(_name, _destpt) param_get(param_find(_name), _destpt)
#else
#else // defined(__PX4_NUTTX) || defined(__PX4_POSIX)
/****************************************************************************/
#error "No target OS defined"
#endif
/*
* NuttX Specific defines
*/
#if defined(__PX4_NUTTX)
/****************************************************************************
* NuttX specific defines.
****************************************************************************/
#define PX4_ROOTFSDIR
#define _PX4_IOC(x,y) _IOC(x,y)
#define px4_statfs_buf_f_bavail_t int
#define PX4_ISFINITE(x) isfinite(x)
// mode for open with O_CREAT
#define PX4_O_MODE_777 0777
#define PX4_O_MODE_666 0666
#define PX4_O_MODE_600 0600
#ifndef PRIu64
#define PRIu64 "llu"
# define PRIu64 "llu"
#endif
#ifndef PRId64
#define PRId64 "lld"
# define PRId64 "lld"
#endif
#if !defined(offsetof)
#ifndef offsetof
# define offsetof(TYPE, MEMBER) __builtin_offsetof (TYPE, MEMBER)
#endif
/*
* POSIX Specific defines
*/
// Workaround for broken NuttX math.h.
#ifdef __cplusplus
#include <cmath>
#undef isfinite
template<typename T>
inline bool isfinite(T __y)
{
int __cy = fpclassify(__y);
return __cy != FP_INFINITE && __cy != FP_NAN;
}
namespace std
{
using ::isfinite;
}
#endif // __cplusplus
#elif defined(__PX4_POSIX)
/****************************************************************************
* POSIX Specific defines
****************************************************************************/
// Flag is meaningless on Linux
#define O_BINARY 0
@ -130,7 +156,6 @@ typedef param_t px4_param_t;
#define PX4_O_MODE_666 (S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH )
#define PX4_O_MODE_600 (S_IRUSR | S_IWUSR)
// NuttX _IOC is equivalent to Linux _IO
#define _PX4_IOC(x,y) _IO(x,y)
@ -142,107 +167,79 @@ typedef param_t px4_param_t;
/* FIXME - Used to satisfy build */
#define getreg32(a) (*(volatile uint32_t *)(a))
#ifdef __PX4_QURT
#define PX4_TICKS_PER_SEC 1000L
#else
__BEGIN_DECLS
extern long PX4_TICKS_PER_SEC;
__END_DECLS
#endif
#define USEC_PER_TICK (1000000UL/PX4_TICKS_PER_SEC)
#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
#define px4_statfs_buf_f_bavail_t unsigned long
#if defined(__PX4_QURT)
#define PX4_ROOTFSDIR
#elif defined(__PX4_POSIX_EAGLE)
#define PX4_ROOTFSDIR "/home/linaro"
#elif defined(__PX4_POSIX_BEBOP)
#define PX4_ROOTFSDIR "/home/root"
#else
#define PX4_ROOTFSDIR "rootfs"
#endif
#ifdef __PX4_QURT
#endif
// QURT specific
# include "dspal_math.h"
# define PX4_ROOTFSDIR
# define PX4_TICKS_PER_SEC 1000L
# define SIOCDEVPRIVATE 999999
// HEXAGON defines isfinite() erroneously as a macro even for C++.
# undef PX4_ISFINITE
# define PX4_ISFINITE(x) isfinite(x)
#else // __PX4_QURT
// All POSIX except QURT.
__BEGIN_DECLS
extern long PX4_TICKS_PER_SEC;
__END_DECLS
# if defined(__PX4_POSIX_EAGLE)
# define PX4_ROOTFSDIR "/home/linaro"
# elif defined(__PX4_POSIX_BEBOP)
# define PX4_ROOTFSDIR "/home/root"
# else
# define PX4_ROOTFSDIR "rootfs"
# endif
#endif // __PX4_QURT
#endif // __PX4_POSIX
/*
* Defines for ROS and Linux
*/
#if defined(__PX4_ROS) || defined(__PX4_POSIX)
/****************************************************************************
* Defines for POSIX and ROS
****************************************************************************/
#define OK 0
#define ERROR -1
#define MAX_RAND 32767
#if defined(__PX4_QURT)
#include "dspal_math.h"
__BEGIN_DECLS
#include <math.h>
__END_DECLS
#else
#include <math.h>
#endif
/* Math macro's for float literals. Do not use M_PI et al as they aren't
* defined (neither C nor the C++ standard define math constants) */
#define M_E_F 2.71828183f
#define M_LOG2E_F 1.44269504f
#define M_LOG10E_F 0.43429448f
#define M_LN2_F 0.69314718f
#define M_LN10_F 2.30258509f
#define M_PI_F 3.14159265f
#define M_TWOPI_F 6.28318531f
#define M_PI_2_F 1.57079632f
#define M_PI_4_F 0.78539816f
#define M_3PI_4_F 2.35619449f
#define M_SQRTPI_F 1.77245385f
#define M_1_PI_F 0.31830989f
#define M_2_PI_F 0.63661977f
#define M_2_SQRTPI_F 1.12837917f
#define M_DEG_TO_RAD_F 0.0174532925f
#define M_RAD_TO_DEG_F 57.2957795f
#define M_SQRT2_F 1.41421356f
#define M_SQRT1_2_F 0.70710678f
#define M_LN2LO_F 1.90821484E-10f
#define M_LN2HI_F 0.69314718f
#define M_SQRT3_F 1.73205081f
#define M_IVLN10_F 0.43429448f // 1 / log(10)
#define M_LOG2_E_F 0.69314718f
#define M_INVLN2_F 1.44269504f // 1 / log(2)
/* Float defines of the standard double length constants */
#define M_E_F (float)M_E
#define M_LOG2E_F (float)M_LOG2E
#define M_LOG10E_F (float)M_LOG10E
#define M_LN2_F (float)M_LN2
#define M_LN10_F (float)M_LN10
#define M_PI_F (float)M_PI
#define M_TWOPI_F (M_PI_F * 2.0f)
#define M_PI_2_F (float)M_PI_2
#define M_PI_4_F (float)M_PI_4
#define M_3PI_4_F (float)2.3561944901923448370E0f
#define M_SQRTPI_F (float)1.77245385090551602792981f
#define M_1_PI_F (float)M_1_PI
#define M_2_PI_F (float)M_2_PI
#define M_2_SQRTPI_F 1.12837916709551257390f
#define M_DEG_TO_RAD_F 0.01745329251994f
#define M_RAD_TO_DEG_F 57.2957795130823f
#define M_SQRT2_F (float)M_SQRT2
#define M_SQRT1_2_F (float)M_SQRT1_2
#define M_LN2LO_F 1.9082149292705877000E-10f
#define M_LN2HI_F 6.9314718036912381649E-1f
#define M_SQRT3_F 1.73205080756887719000f
#define M_IVLN10_F 0.43429448190325182765f /* 1 / log(10) */
#define M_LOG2_E_F _M_LN2_F
#define M_INVLN2_F 1.4426950408889633870E0f/* 1 / log(2) */
#define M_DEG_TO_RAD 0.01745329251994
#define M_RAD_TO_DEG 57.2957795130823
#define M_DEG_TO_RAD 0.017453292519943295
#define M_RAD_TO_DEG 57.295779513082323
#ifndef __PX4_QURT
#if defined(__cplusplus)
#include <cmath>
#define PX4_ISFINITE(x) std::isfinite(x)
#else
#define PX4_ISFINITE(x) isfinite(x)
#endif
#endif
#endif
#if defined(__PX4_QURT)
#define DEFAULT_PARAM_FILE "/fs/eeprom/parameters"
#define SIOCDEVPRIVATE 999999
// Missing math.h defines
#define PX4_ISFINITE(x) __builtin_isfinite(x)
#endif
/*
*Defines for all platforms
*/
/* wrapper for 2d matrices */
#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])
/* wrapper for rotation matrices stored in arrays */
#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
#endif // defined(__PX4_ROS) || defined(__PX4_POSIX)