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systemcmds: convert c -> c++

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This commit is contained in:
Daniel Agar
2021-12-21 09:22:49 -05:00
parent d2e931858d
commit 0029a75ab0
27 changed files with 69 additions and 111 deletions
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src/systemcmds/esc_calib/CMakeLists.txt
+1 -1
View File
@@ -36,7 +36,7 @@ px4_add_module(
STACK_MAIN 4096
COMPILE_FLAGS
SRCS
esc_calib.c
esc_calib.cpp
DEPENDS
)
src/systemcmds/esc_calib/esc_calib.c → src/systemcmds/esc_calib/esc_calib.cpp
+9 -16
View File
@@ -53,19 +53,13 @@
#include <sys/ioctl.h>
#include <sys/stat.h>
#include "drivers/drv_pwm_output.h"
#include <uORB/topics/actuator_controls.h>
static void usage(const char *reason);
__EXPORT int esc_calib_main(int argc, char *argv[]);
static void
usage(const char *reason)
static void usage(const char *reason)
{
if (reason != NULL) {
if (reason != nullptr) {
PX4_ERR("%s", reason);
}
@@ -82,14 +76,13 @@ usage(const char *reason)
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/pwm_output0", "<file:dev>", "Select PWM output device", true);
PRINT_MODULE_USAGE_PARAM_INT('l', 1000, 0, 3000, "Low PWM value in us", true);
PRINT_MODULE_USAGE_PARAM_INT('h', 2000, 0, 3000, "High PWM value in us", true);
PRINT_MODULE_USAGE_PARAM_STRING('c', NULL, NULL, "select channels in the form: 1234 (1 digit per channel, 1=first)",
true);
PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, nullptr,
"select channels in the form: 1234 (1 digit per channel, 1=first)", true);
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 4096, "Select channels via bitmask (eg. 0xF, 3)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('a', "Select all channels", true);
}
int
esc_calib_main(int argc, char *argv[])
extern "C" __EXPORT int esc_calib_main(int argc, char *argv[])
{
const char *dev = PWM_OUTPUT0_DEVICE_PATH;
char *ep;
@@ -116,7 +109,7 @@ esc_calib_main(int argc, char *argv[])
}
int myoptind = 1;
const char *myoptarg = NULL;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "d:c:m:al:h:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
@@ -184,7 +177,7 @@ esc_calib_main(int argc, char *argv[])
break;
default:
usage(NULL);
usage(nullptr);
return 1;
}
}
@@ -201,10 +194,10 @@ esc_calib_main(int argc, char *argv[])
/* make sure no other source is publishing control values now */
struct actuator_controls_s actuators;
int act_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int act_sub = orb_subscribe(ORB_ID(actuator_controls_0));
/* clear changed flag */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, act_sub, &actuators);
orb_copy(ORB_ID(actuator_controls_0), act_sub, &actuators);
/* wait 50 ms */
px4_usleep(50000);