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Make NuttX drivers cross platform (VDev -> CDev)

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This commit is contained in:
Daniel Agar
2017-08-24 01:21:48 -04:00
committed by Lorenz Meier
parent 6562dd496b
commit 07619cf723
29 changed files with 216 additions and 306 deletions
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src/modules/uORB/uORBDevices.cpp
+9 -14
View File
@@ -39,9 +39,6 @@
#include <systemlib/px4_macros.h>
#ifdef __PX4_NUTTX
#include <nuttx/arch.h>
#define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
#define ATOMIC_LEAVE px4_leave_critical_section(flags)
#define FILE_FLAGS(filp) filp->f_oflags
#define FILE_PRIV(filp) filp->f_priv
#define ITERATE_NODE_MAP() \
@@ -55,8 +52,6 @@
#include <algorithm>
#define FILE_FLAGS(filp) filp->flags
#define FILE_PRIV(filp) filp->priv
#define ATOMIC_ENTER lock()
#define ATOMIC_LEAVE unlock()
#define ITERATE_NODE_MAP() \
for (const auto &node_iter : _node_map)
#define INIT_NODE_MAP_VARS(node_obj, node_name_str) \
@@ -88,7 +83,7 @@ uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *f
uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
int priority, unsigned int queue_size) :
VDev(name, path),
CDev(name, path),
_meta(meta),
_data(nullptr),
_last_update(0),
@@ -134,7 +129,7 @@ uORB::DeviceNode::open(device::file_t *filp)
/* now complete the open */
if (ret == PX4_OK) {
ret = VDev::open(filp);
ret = CDev::open(filp);
/* open failed - not the publisher anymore */
if (ret != PX4_OK) {
@@ -165,12 +160,12 @@ uORB::DeviceNode::open(device::file_t *filp)
FILE_PRIV(filp) = (void *)sd;
ret = VDev::open(filp);
ret = CDev::open(filp);
add_internal_subscriber();
if (ret != PX4_OK) {
PX4_ERR("VDev::open failed");
PX4_ERR("CDev::open failed");
delete sd;
}
@@ -202,7 +197,7 @@ uORB::DeviceNode::close(device::file_t *filp)
}
}
return VDev::close(filp);
return CDev::close(filp);
}
ssize_t
@@ -414,7 +409,7 @@ uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
default:
/* give it to the superclass */
return VDev::ioctl(filp, cmd, arg);
return CDev::ioctl(filp, cmd, arg);
}
}
@@ -535,7 +530,7 @@ uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
* If the topic looks updated to the subscriber, go ahead and notify them.
*/
if (appears_updated(sd)) {
VDev::poll_notify_one(fds, events);
CDev::poll_notify_one(fds, events);
}
}
@@ -834,7 +829,7 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
}
uORB::DeviceMaster::DeviceMaster(Flavor f) :
VDev((f == PUBSUB) ? "obj_master" : "param_master",
CDev((f == PUBSUB) ? "obj_master" : "param_master",
(f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
_flavor(f)
{
@@ -959,7 +954,7 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
default:
/* give it to the superclass */
return VDev::ioctl(filp, cmd, arg);
return CDev::ioctl(filp, cmd, arg);
}
}
src/modules/uORB/uORBDevices.hpp
+2 -11
View File
@@ -42,13 +42,6 @@
#include <stdlib.h>
#include "ORBMap.hpp"
namespace device
{
//type mappings to NuttX
typedef ::file file_t;
typedef CDev VDev;
}
#else
#include <string>
@@ -56,8 +49,6 @@ typedef CDev VDev;
#endif /* __PX4_NUTTX */
namespace uORB
{
class DeviceNode;
@@ -68,7 +59,7 @@ class Manager;
/**
* Per-object device instance.
*/
class uORB::DeviceNode : public device::VDev
class uORB::DeviceNode : public device::CDev
{
public:
DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
@@ -277,7 +268,7 @@ private:
* Used primarily to create new objects via the ORBIOCCREATE
* ioctl.
*/
class uORB::DeviceMaster : public device::VDev
class uORB::DeviceMaster : public device::CDev
{
public:
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);