Merge branch 'fix_ringbuffer' into lidarlite_merge

src/drivers/airspeed/airspeed.cpp

@@ -128,7 +128,7 @@ Airspeed::init()
 		goto out;
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(differential_pressure_s));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(differential_pressure_s));
 	if (_reports == nullptr)
 		goto out;
 

src/drivers/airspeed/airspeed.h

@@ -109,7 +109,7 @@ public:
 	virtual void	print_info();
 
 private:
-	RingBuffer		*_reports;
+	ringbuffer::RingBuffer		*_reports;
 	perf_counter_t		_buffer_overflows;
 
 	/* this class has pointer data members and should not be copied */

src/drivers/device/module.mk

@@ -41,7 +41,8 @@ SRCS =		  \
 		  cdev.cpp \
 		  i2c_nuttx.cpp \
 		  pio.cpp \
-		  spi.cpp 
+		  spi.cpp \
+		  ringbuffer.cpp
 else
 SRCS =		  \
 		  device_posix.cpp \
@@ -50,5 +51,5 @@ SRCS =		  \
 		  vdev_posix.cpp \
 		  i2c_posix.cpp  \
 		  sim.cpp \
-		  ringbuffer.cpp 
+		  ringbuffer.cpp
 endif

src/drivers/device/ringbuffer.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,6 +40,9 @@
 #include "ringbuffer.h"
 #include <string.h>
 
+namespace ringbuffer
+{
+
 RingBuffer::RingBuffer(unsigned num_items, size_t item_size) :
 	_num_items(num_items),
 	_item_size(item_size),
@@ -57,25 +60,25 @@ RingBuffer::~RingBuffer()
 unsigned
 RingBuffer::_next(unsigned index)
 {
-	return (0 == index) ? _num_items : (index - 1); 
+	return (0 == index) ? _num_items : (index - 1);
 }
 
 bool
 RingBuffer::empty()
 {
-	return _tail == _head; 
+	return _tail == _head;
 }
 
 bool
 RingBuffer::full()
 {
-	return _next(_head) == _tail; 
+	return _next(_head) == _tail;
 }
 
 unsigned
 RingBuffer::size()
 {
-	return (_buf != nullptr) ? _num_items : 0; 
+	return (_buf != nullptr) ? _num_items : 0;
 }
 
 void
@@ -86,7 +89,7 @@ RingBuffer::flush()
 }
 
 bool
-RingBuffer::put(const void *val, size_t val_size) 
+RingBuffer::put(const void *val, size_t val_size)
 {
 	unsigned next = _next(_head);
 	if (next != _tail) {
@@ -250,7 +253,7 @@ static inline bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned
 #define __PX4_SBCAP __sync_bool_compare_and_swap
 #endif
 bool
-RingBuffer::get(void *val, size_t val_size) 
+RingBuffer::get(void *val, size_t val_size)
 {
 	if (_tail != _head) {
 		unsigned candidate;
@@ -340,7 +343,7 @@ RingBuffer::get(double &val)
 }
 
 unsigned
-RingBuffer::space(void) 
+RingBuffer::space(void)
 {
 	unsigned tail, head;
 
@@ -361,7 +364,7 @@ RingBuffer::space(void)
 }
 
 unsigned
-RingBuffer::count(void) 
+RingBuffer::count(void)
 {
 	/*
 	 * Note that due to the conservative nature of space(), this may
@@ -371,7 +374,7 @@ RingBuffer::count(void)
 }
 
 bool
-RingBuffer::resize(unsigned new_size) 
+RingBuffer::resize(unsigned new_size)
 {
 	char *old_buffer;
 	char *new_buffer = new char [(new_size+1) * _item_size];
@@ -388,13 +391,15 @@ RingBuffer::resize(unsigned new_size)
 }
 
 void
-RingBuffer::print_info(const char *name) 
+RingBuffer::print_info(const char *name)
 {
 	printf("%s	%u/%lu (%u/%u @ %p)\n",
-	       name, 
-	       _num_items, 
-	       (unsigned long)_num_items * _item_size, 
-	       _head, 
-	       _tail, 
+	       name,
+	       _num_items,
+	       (unsigned long)_num_items * _item_size,
+	       _head,
+	       _tail,
 	       _buf);
 }
+
+} // namespace ringbuffer

src/drivers/device/ringbuffer.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -43,6 +43,9 @@
 #include <stdint.h>
 #include <stdio.h>
 
+namespace ringbuffer __EXPORT
+{
+
 class RingBuffer {
 public:
 	RingBuffer(unsigned ring_size, size_t entry_size);
@@ -161,7 +164,7 @@ public:
 private:
 	unsigned		_num_items;
 	const size_t		_item_size;
-	char			*_buf;	
+	char			*_buf;
 	volatile unsigned	_head;	/**< insertion point in _item_size units */
 	volatile unsigned	_tail;	/**< removal point in _item_size units */
 
@@ -172,9 +175,4 @@ private:
 	RingBuffer operator=(const RingBuffer&);
 };
 
-#ifdef __PX4_NUTTX
-// Not sure why NuttX requires these to be defined in the header file
-// but on other targets it causes a problem with multiple definitions
-// at link time
-#include "ringbuffer.cpp"
-#endif
+} // namespace ringbuffer

src/drivers/hmc5883/hmc5883.cpp

@@ -156,7 +156,7 @@ private:
 	work_s			_work;
 	unsigned		_measure_ticks;
 
-	RingBuffer		*_reports;
+	ringbuffer::RingBuffer	*_reports;
 	mag_scale		_scale;
 	float 			_range_scale;
 	float 			_range_ga;
@@ -423,7 +423,7 @@ HMC5883::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(mag_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
 	if (_reports == nullptr)
 		goto out;
 
@@ -921,10 +921,10 @@ HMC5883::collect()
 
 			_temperature_counter = 0;
 
-			ret = _interface->read(ADDR_TEMP_OUT_MSB, 
+			ret = _interface->read(ADDR_TEMP_OUT_MSB,
 					       raw_temperature, sizeof(raw_temperature));
 			if (ret == OK) {
-				int16_t temp16 = (((int16_t)raw_temperature[0]) << 8) + 
+				int16_t temp16 = (((int16_t)raw_temperature[0]) << 8) +
 					raw_temperature[1];
 				new_report.temperature = 25 + (temp16 / (16*8.0f));
 				_temperature_error_count = 0;
@@ -1146,8 +1146,8 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 			ret = -EIO;
 			goto out;
 		}
-		float cal[3] = {fabsf(expected_cal[0] / report.x), 
-				fabsf(expected_cal[1] / report.y), 
+		float cal[3] = {fabsf(expected_cal[0] / report.x),
+				fabsf(expected_cal[1] / report.y),
 				fabsf(expected_cal[2] / report.z)};
 
 		if (cal[0] > 0.7f && cal[0] < 1.35f &&
@@ -1381,7 +1381,7 @@ HMC5883::print_info()
 	printf("poll interval:  %u ticks\n", _measure_ticks);
 	printf("output  (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
 	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
-	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n", 
+	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
 	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
 	       (double)(1.0f/_range_scale), (double)_range_ga);
 	printf("temperature %.2f\n", (double)_last_report.temperature);
@@ -1451,7 +1451,7 @@ start_bus(struct hmc5883_bus_option &bus, enum Rotation rotation)
 		bus.dev = NULL;
 		return false;
 	}
-			
+
 	int fd = open(bus.devpath, O_RDONLY);
 	if (fd < 0) {
 		return false;
@@ -1505,7 +1505,7 @@ struct hmc5883_bus_option &find_bus(enum HMC5883_BUS busid)
 		     busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
 			return bus_options[i];
 		}
-	}	
+	}
 	errx(1, "bus %u not started", (unsigned)busid);
 }
 
@@ -1750,7 +1750,7 @@ hmc5883_main(int argc, char *argv[])
 		}
 	}
 
-	const char *verb = argv[optind];	
+	const char *verb = argv[optind];
 
 	/*
 	 * Start/load the driver.

src/drivers/l3gd20/l3gd20.cpp

@@ -229,7 +229,7 @@ private:
 	struct hrt_call		_call;
 	unsigned		_call_interval;
 
-	RingBuffer		*_reports;
+	ringbuffer::RingBuffer	*_reports;
 
 	struct gyro_scale	_gyro_scale;
 	float			_gyro_range_scale;
@@ -472,7 +472,7 @@ L3GD20::init()
 		goto out;
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(gyro_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
 
 	if (_reports == nullptr)
 		goto out;

src/drivers/lsm303d/lsm303d.cpp

@@ -275,8 +275,8 @@ private:
 	unsigned		_call_accel_interval;
 	unsigned		_call_mag_interval;
 
-	RingBuffer		*_accel_reports;
-	RingBuffer		*_mag_reports;
+	ringbuffer::RingBuffer	*_accel_reports;
+	ringbuffer::RingBuffer		*_mag_reports;
 
 	struct accel_scale	_accel_scale;
 	unsigned		_accel_range_m_s2;
@@ -588,7 +588,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota
 	_debug_enabled = true;
 
 	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_LSM303D;
-	
+
 	/* Prime _mag with parents devid. */
 	_mag->_device_id.devid = _device_id.devid;
 	_mag->_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D;
@@ -646,12 +646,12 @@ LSM303D::init()
 	}
 
 	/* allocate basic report buffers */
-	_accel_reports = new RingBuffer(2, sizeof(accel_report));
+	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
 
 	if (_accel_reports == nullptr)
 		goto out;
 
-	_mag_reports = new RingBuffer(2, sizeof(mag_report));
+	_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
 
 	if (_mag_reports == nullptr)
 		goto out;
@@ -1399,9 +1399,9 @@ LSM303D::start()
 	_mag_reports->flush();
 
 	/* start polling at the specified rate */
-	hrt_call_every(&_accel_call, 
+	hrt_call_every(&_accel_call,
                        1000,
-                       _call_accel_interval - LSM303D_TIMER_REDUCTION, 
+                       _call_accel_interval - LSM303D_TIMER_REDUCTION,
                        (hrt_callout)&LSM303D::measure_trampoline, this);
 	hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&LSM303D::mag_measure_trampoline, this);
 }

src/drivers/mb12xx/mb12xx.cpp

@@ -125,7 +125,7 @@ private:
 	float				_min_distance;
 	float				_max_distance;
 	work_s				_work;
-	RingBuffer		*_reports;
+	ringbuffer::RingBuffer	*_reports;
 	bool				_sensor_ok;
 	int					_measure_ticks;
 	bool				_collect_phase;
@@ -255,7 +255,7 @@ MB12XX::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(range_finder_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(range_finder_report));
 
 	_index_counter = MB12XX_BASEADDR;	/* set temp sonar i2c address to base adress */
 	set_address(_index_counter);		/* set I2c port to temp sonar i2c adress */

src/drivers/mpu6000/mpu6000.cpp

@@ -242,7 +242,7 @@ private:
 	struct hrt_call		_call;
 	unsigned		_call_interval;
 
-	RingBuffer		*_accel_reports;
+	ringbuffer::RingBuffer	*_accel_reports;
 
 	struct accel_scale	_accel_scale;
 	float			_accel_range_scale;
@@ -251,7 +251,7 @@ private:
 	int			_accel_orb_class_instance;
 	int			_accel_class_instance;
 
-	RingBuffer		*_gyro_reports;
+	ringbuffer::RingBuffer	*_gyro_reports;
 
 	struct gyro_scale	_gyro_scale;
 	float			_gyro_range_scale;
@@ -611,11 +611,11 @@ MPU6000::init()
 	}
 
 	/* allocate basic report buffers */
-	_accel_reports = new RingBuffer(2, sizeof(accel_report));
+	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
 	if (_accel_reports == nullptr)
 		goto out;
 
-	_gyro_reports = new RingBuffer(2, sizeof(gyro_report));
+	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
 	if (_gyro_reports == nullptr)
 		goto out;
 

src/drivers/ms5611/ms5611_nuttx.cpp

@@ -127,7 +127,7 @@ protected:
 	struct work_s		_work;
 	unsigned		_measure_ticks;
 
-	RingBuffer		*_reports;
+	ringbuffer::RingBuffer	*_reports;
 
 	bool			_collect_phase;
 	unsigned		_measure_phase;
@@ -269,7 +269,7 @@ MS5611::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(baro_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
 
 	if (_reports == nullptr) {
 		debug("can't get memory for reports");
@@ -896,7 +896,7 @@ start_bus(struct ms5611_bus_option &bus)
 		bus.dev = NULL;
 		return false;
 	}
-			
+
 	int fd = open(bus.devpath, O_RDONLY);
 
 	/* set the poll rate to default, starts automatic data collection */
@@ -955,7 +955,7 @@ struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
 		     busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
 			return bus_options[i];
 		}
-	}	
+	}
 	errx(1,"bus %u not started", (unsigned)busid);
 }
 

src/drivers/oreoled/oreoled.cpp

@@ -121,7 +121,7 @@ private:
 	work_s			_work;							///< work queue for scheduling reads
 	bool			_healthy[OREOLED_NUM_LEDS];		///< health of each LED
 	uint8_t			_num_healthy;					///< number of healthy LEDs
-	RingBuffer		*_cmd_queue;					///< buffer of commands to send to LEDs
+	ringbuffer::RingBuffer	*_cmd_queue;					///< buffer of commands to send to LEDs
 	uint64_t		_last_gencall;
 	uint64_t		_start_time;					///< system time we first attempt to communicate with battery
 };
@@ -176,7 +176,7 @@ OREOLED::init()
 	}
 
 	/* allocate command queue */
-	_cmd_queue = new RingBuffer(OREOLED_CMD_QUEUE_SIZE, sizeof(oreoled_cmd_t));
+	_cmd_queue = new ringbuffer::RingBuffer(OREOLED_CMD_QUEUE_SIZE, sizeof(oreoled_cmd_t));
 
 	if (_cmd_queue == nullptr) {
 		return ENOTTY;

src/drivers/px4flow/px4flow.cpp

@@ -120,16 +120,16 @@ protected:
 private:
 
 	work_s				_work;
-	RingBuffer			*_reports;
+	ringbuffer::RingBuffer			*_reports;
 	bool				_sensor_ok;
 	int					_measure_ticks;
-	bool				_collect_phase; 
+	bool				_collect_phase;
 	orb_advert_t		_px4flow_topic;
 
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
 	perf_counter_t		_buffer_overflows;
-	
+
 	enum Rotation				_sensor_rotation;
 
 	/**
@@ -217,7 +217,7 @@ PX4FLOW::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(optical_flow_s));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(optical_flow_s));
 
 	if (_reports == nullptr) {
 		goto out;
@@ -486,10 +486,10 @@ PX4FLOW::collect()
 	report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
 
 	report.sensor_id = 0;
-	
+
 	/* rotate measurements according to parameter */
 	float zeroval = 0.0f;
-	rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval); 
+	rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
 
 	if (_px4flow_topic < 0) {
 		_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);

src/drivers/sf0x/sf0x.cpp

@@ -118,7 +118,7 @@ private:
 	float				_min_distance;
 	float				_max_distance;
 	work_s				_work;
-	RingBuffer			*_reports;
+	ringbuffer::RingBuffer			*_reports;
 	bool				_sensor_ok;
 	int				_measure_ticks;
 	bool				_collect_phase;
@@ -270,7 +270,7 @@ SF0X::init()
 		if (ret != OK) break;
 
 		/* allocate basic report buffers */
-		_reports = new RingBuffer(2, sizeof(range_finder_report));
+		_reports = new ringbuffer::RingBuffer(2, sizeof(range_finder_report));
 		if (_reports == nullptr) {
 			warnx("mem err");
 			ret = -1;

src/drivers/trone/trone.cpp

@@ -82,7 +82,7 @@
 #define TRONE_WHO_AM_I_REG  0x01        /* Who am I test register */
 #define TRONE_WHO_AM_I_REG_VAL 0xA1
 
- 
+
 /* Device limits */
 #define TRONE_MIN_DISTANCE (0.20f)
 #define TRONE_MAX_DISTANCE (14.00f)
@@ -122,7 +122,7 @@ private:
 	float				_min_distance;
 	float				_max_distance;
 	work_s				_work;
-	RingBuffer			*_reports;
+	ringbuffer::RingBuffer		*_reports;
 	bool				_sensor_ok;
 	int					_measure_ticks;
 	bool				_collect_phase;
@@ -281,7 +281,7 @@ TRONE::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(range_finder_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(range_finder_report));
 
 	if (_reports == nullptr) {
 		goto out;

src/modules/uavcan/sensors/baro.cpp

@@ -36,7 +36,6 @@
  */
 
 #include "baro.hpp"
-#include <drivers/device/ringbuffer.h>
 #include <cmath>
 
 const char *const UavcanBarometerBridge::NAME = "baro";
@@ -56,7 +55,7 @@ int UavcanBarometerBridge::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(baro_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
 	if (_reports == nullptr)
 		return -1;
 

src/modules/uavcan/sensors/baro.hpp

@@ -39,11 +39,10 @@
 
 #include "sensor_bridge.hpp"
 #include <drivers/drv_baro.h>
+#include <drivers/device/ringbuffer.h>
 
 #include <uavcan/equipment/air_data/StaticAirData.hpp>
 
-class RingBuffer;
-
 class UavcanBarometerBridge : public UavcanCDevSensorBridgeBase
 {
 public:
@@ -68,5 +67,5 @@ private:
 
 	uavcan::Subscriber<uavcan::equipment::air_data::StaticAirData, AirDataCbBinder> _sub_air_data;
 	unsigned _msl_pressure = 101325;
-	RingBuffer	*_reports;
+	ringbuffer::RingBuffer	*_reports;
 };