forked from Archive/PX4-Autopilot
uorb: more syntax changes to remove diff between nuttx & posix files
This commit is contained in:
Beat Küng
Julian Oes
parent
83c5323c3a
commit
f5654511b8
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@ -43,8 +43,9 @@
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#include <px4_sem.hpp>
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#include <stdlib.h>
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using namespace device;
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uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(struct file *filp)
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uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *filp)
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{
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SubscriberData *sd = (SubscriberData *)(filp->f_priv);
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return sd;
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@ -52,7 +53,7 @@ uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(struct file *filp
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uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
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int priority, unsigned int queue_size) :
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CDev(name, path),
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VDev(name, path),
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_meta(meta),
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_data(nullptr),
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_last_update(0),
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@ -77,7 +78,7 @@ uORB::DeviceNode::~DeviceNode()
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}
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int
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uORB::DeviceNode::open(struct file *filp)
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uORB::DeviceNode::open(device::file_t *filp)
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{
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int ret;
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@ -88,7 +89,7 @@ uORB::DeviceNode::open(struct file *filp)
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lock();
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if (_publisher == 0) {
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_publisher = getpid();
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_publisher = px4_getpid();
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ret = PX4_OK;
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} else {
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@ -99,7 +100,7 @@ uORB::DeviceNode::open(struct file *filp)
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/* now complete the open */
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if (ret == PX4_OK) {
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ret = CDev::open(filp);
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ret = VDev::open(filp);
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/* open failed - not the publisher anymore */
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if (ret != PX4_OK) {
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@ -130,7 +131,7 @@ uORB::DeviceNode::open(struct file *filp)
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filp->f_priv = (void *)sd;
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ret = CDev::open(filp);
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ret = VDev::open(filp);
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add_internal_subscriber();
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@ -147,10 +148,10 @@ uORB::DeviceNode::open(struct file *filp)
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}
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int
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uORB::DeviceNode::close(struct file *filp)
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uORB::DeviceNode::close(device::file_t *filp)
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{
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/* is this the publisher closing? */
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if (getpid() == _publisher) {
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if (px4_getpid() == _publisher) {
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_publisher = 0;
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} else {
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@ -167,11 +168,11 @@ uORB::DeviceNode::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 VDev::close(filp);
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}
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ssize_t
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uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
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uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
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{
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SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
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@ -227,7 +228,7 @@ uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
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}
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ssize_t
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uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
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uORB::DeviceNode::write(device::file_t *filp, const char *buffer, size_t buflen)
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{
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/*
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* Writes are legal from interrupt context as long as the
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@ -282,7 +283,7 @@ uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
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}
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int
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uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
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uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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SubscriberData *sd = filp_to_sd(filp);
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@ -354,7 +355,7 @@ uORB::DeviceNode::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 VDev::ioctl(filp, cmd, arg);
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}
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}
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@ -423,7 +424,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
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}
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pollevent_t
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uORB::DeviceNode::poll_state(struct file *filp)
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uORB::DeviceNode::poll_state(device::file_t *filp)
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{
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SubscriberData *sd = filp_to_sd(filp);
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@ -438,15 +439,15 @@ uORB::DeviceNode::poll_state(struct file *filp)
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}
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void
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uORB::DeviceNode::poll_notify_one(struct pollfd *fds, pollevent_t events)
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uORB::DeviceNode::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 = filp_to_sd((device::file_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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*/
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if (appears_updated(sd)) {
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CDev::poll_notify_one(fds, events);
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VDev::poll_notify_one(fds, events);
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}
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}
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@ -677,7 +678,7 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
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}
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uORB::DeviceMaster::DeviceMaster(Flavor f) :
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CDev((f == PUBSUB) ? "obj_master" : "param_master",
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VDev((f == PUBSUB) ? "obj_master" : "param_master",
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(f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
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_flavor(f)
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{
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@ -691,7 +692,7 @@ uORB::DeviceMaster::~DeviceMaster()
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}
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int
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uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
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uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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int ret;
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@ -798,7 +799,7 @@ uORB::DeviceMaster::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 VDev::ioctl(filp, cmd, arg);
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}
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}
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@ -34,10 +34,27 @@
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#pragma once
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#include <stdint.h>
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#include "uORBCommon.hpp"
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#ifdef __PX4_NUTTX
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#include <string.h>
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#include <stdlib.h>
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#include "ORBMap.hpp"
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#include "uORBCommon.hpp"
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namespace device {
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//type mappings to NuttX
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typedef ::file file_t;
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typedef CDev VDev;
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}
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#else
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#include <string>
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#include <map>
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#endif /* __PX4_NUTTX */
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namespace uORB
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@ -50,7 +67,7 @@ class Manager;
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/**
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* Per-object device instance.
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*/
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class uORB::DeviceNode : public device::CDev
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class uORB::DeviceNode : public device::VDev
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{
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public:
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DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
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@ -61,12 +78,12 @@ public:
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* Method to create a subscriber instance and return the struct
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* pointing to the subscriber as a file pointer.
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*/
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virtual int open(struct file *filp);
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virtual int open(device::file_t *filp);
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/**
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* Method to close a subscriber for this topic.
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*/
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virtual int close(struct file *filp);
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virtual int close(device::file_t *filp);
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/**
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* reads data from a subscriber node to the buffer provided.
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@ -79,7 +96,7 @@ public:
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* @return
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* ssize_t the number of bytes read.
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*/
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
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/**
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* writes the published data to the internal buffer to be read by
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@ -93,12 +110,12 @@ public:
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* @return ssize_t
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* The number of bytes that are written
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*/
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virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
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virtual ssize_t write(device::file_t *filp, const char *buffer, size_t buflen);
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/**
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* IOCTL control for the subscriber.
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*/
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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/**
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* Method to publish a data to this node.
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@ -174,8 +191,8 @@ public:
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const struct orb_metadata *meta() const { return _meta; }
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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::file_t *filp);
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virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
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private:
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struct UpdateIntervalData {
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@ -206,7 +223,7 @@ private:
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bool _published; /**< has ever data been published */
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unsigned int _queue_size; /**< maximum number of elements in the queue */
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inline static SubscriberData *filp_to_sd(struct file *filp);
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inline static SubscriberData *filp_to_sd(device::file_t *filp);
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bool _IsRemoteSubscriberPresent;
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int32_t _subscriber_count;
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@ -249,10 +266,10 @@ private:
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* Used primarily to create new objects via the ORBIOCCREATE
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* ioctl.
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*/
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class uORB::DeviceMaster : public device::CDev
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class uORB::DeviceMaster : public device::VDev
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{
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public:
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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/**
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* Public interface for getDeviceNodeLocked(). Takes care of synchronization.
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@ -44,6 +44,7 @@
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#include <px4_sem.hpp>
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#include <stdlib.h>
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using namespace device;
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uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *filp)
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{
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@ -288,7 +289,6 @@ uORB::DeviceNode::write(device::file_t *filp, const char *buffer, size_t buflen)
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int
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uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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//warnx("uORB::DeviceNode::ioctl fd = %d cmd = %d", filp->fd, cmd);
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SubscriberData *sd = filp_to_sd(filp);
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switch (cmd) {
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@ -433,7 +433,6 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
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pollevent_t
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uORB::DeviceNode::poll_state(device::file_t *filp)
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{
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//warnx("uORB::DeviceNode::poll_state fd = %d", filp->fd);
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SubscriberData *sd = filp_to_sd(filp);
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/*
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@ -449,7 +448,6 @@ uORB::DeviceNode::poll_state(device::file_t *filp)
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void
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uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
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{
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//warnx("uORB::DeviceNode::poll_notify_one fds = %p fds->priv = %p", fds, fds->priv);
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SubscriberData *sd = filp_to_sd((device::file_t *)fds->priv);
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/*
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@ -469,7 +467,6 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
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usleep(100);
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}
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//warnx("uORB::DeviceNode::appears_updated sd = %p", sd);
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/* assume it doesn't look updated */
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bool ret = false;
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@ -671,7 +668,6 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
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return PX4_OK;
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}
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uORB::DeviceMaster::DeviceMaster(Flavor f) :
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VDev((f == PUBSUB) ? "obj_master" : "param_master",
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(f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
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@ -781,7 +777,6 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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_node_map[std::string(nodepath)] = node;
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}
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group_tries++;
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} while (ret != PX4_OK && (group_tries < max_group_tries));
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@ -807,9 +802,9 @@ void uORB::DeviceMaster::printStatistics(bool reset)
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_last_statistics_output = current_time;
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PX4_INFO("TOPIC, NR LOST MSGS");
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bool had_print = false;
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lock();
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bool had_print = false;
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for (const auto &node : _node_map) {
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if (node.second->print_statistics(reset)) {
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