orb_advert_t changed to void * and checks changed to nullptr

The existing orb_advert_t use thoughout the code sometimes tries
to treat it as a file descriptor and there are checks for < 0
and ::close calls on orb_advert_t types which is an invalid use
of an object pointer, which is what orb_advert_t really is.

Initially I had changed the -1 initializations to 0 but it was
suggested that this should be nullptr. That was a good recommendation
but the definition of orb_advert_t had to change to void * because
you cannot initialize a uintptr_t as nullptr.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/drivers/airspeed/airspeed.cpp

@@ -86,8 +86,8 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
 	_measure_ticks(0),
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
-	_airspeed_pub(0),
-	_subsys_pub(0),
+	_airspeed_pub(nullptr),
+	_subsys_pub(nullptr),
 	_class_instance(-1),
 	_conversion_interval(conversion_interval),
 	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
@@ -146,7 +146,7 @@ Airspeed::init()
 		/* measurement will have generated a report, publish */
 		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
 
-		if (_airspeed_pub == 0)
+		if (_airspeed_pub == nullptr)
 			warnx("uORB started?");
 	}
 
@@ -367,7 +367,7 @@ Airspeed::update_status()
 			SUBSYSTEM_TYPE_DIFFPRESSURE
 		};
 
-		if (_subsys_pub == 0) {
+		if (_subsys_pub == nullptr) {
 			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
 		} else {
 			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);

src/drivers/batt_smbus/batt_smbus.cpp

@@ -203,7 +203,7 @@ BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
 	_enabled(false),
 	_work{},
 	_reports(nullptr),
-	_batt_topic(0),
+	_batt_topic(nullptr),
 	_batt_orb_id(nullptr),
 	_start_time(0),
 	_batt_capacity(0)
@@ -427,13 +427,13 @@ BATT_SMBUS::cycle()
 		}
 
 		// publish to orb
-		if (_batt_topic != 0) {
+		if (_batt_topic != nullptr) {
 			orb_publish(_batt_orb_id, _batt_topic, &new_report);
 
 		} else {
 			_batt_topic = orb_advertise(_batt_orb_id, &new_report);
 
-			if (_batt_topic == 0) {
+			if (_batt_topic == nullptr) {
 				errx(1, "ADVERT FAIL");
 			}
 		}

src/drivers/bma180/bma180.cpp

@@ -238,7 +238,7 @@ BMA180::BMA180(int bus, spi_dev_e device) :
 	_reports(nullptr),
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
-	_accel_topic(0),
+	_accel_topic(nullptr),
 	_class_instance(-1),
 	_current_lowpass(0),
 	_current_range(0),
@@ -733,7 +733,7 @@ BMA180::measure()
 	poll_notify(POLLIN);
 
 	/* publish for subscribers */
-	if (_accel_topic != 0 && !(_pub_blocked))
+	if (_accel_topic != nullptr && !(_pub_blocked))
 		orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
 
 	/* stop the perf counter */

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -183,7 +183,7 @@ ETSAirspeed::collect()
 	report.temperature = -1000.0f;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
 
-	if (_airspeed_pub > 0 && !(_pub_blocked)) {
+	if (_airspeed_pub != nullptr && !(_pub_blocked)) {
 		/* publish it */
 		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
 	}

src/drivers/gimbal/gimbal.cpp

@@ -180,7 +180,7 @@ Gimbal::Gimbal() :
 	_attitude_compensation_pitch(true),
 	_attitude_compensation_yaw(true),
 	_initialized(false),
-	_actuator_controls_2_topic(0),
+	_actuator_controls_2_topic(nullptr),
 	_sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "gimbal_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "gimbal_buffer_overflows"))
@@ -280,7 +280,7 @@ Gimbal::cycle()
 		zero_report.timestamp = hrt_absolute_time();
 		_actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report);
 
-		if (_actuator_controls_2_topic == 0) {
+		if (_actuator_controls_2_topic == nullptr) {
 			warnx("advert err");
 		}
 

src/drivers/gps/gps.cpp

@@ -175,9 +175,9 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
 	_mode(GPS_DRIVER_MODE_UBX),
 	_Helper(nullptr),
 	_Sat_Info(nullptr),
-	_report_gps_pos_pub(0),
+	_report_gps_pos_pub(nullptr),
 	_p_report_sat_info(nullptr),
-	_report_sat_info_pub(0),
+	_report_sat_info_pub(nullptr),
 	_rate(0.0f),
 	_fake_gps(fake_gps)
 {
@@ -314,7 +314,7 @@ GPS::task_main()
 
 
 			if (!(_pub_blocked)) {
-				if (_report_gps_pos_pub > 0) {
+				if (_report_gps_pos_pub != nullptr) {
 					orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
 
 				} else {
@@ -361,7 +361,7 @@ GPS::task_main()
 				_report_gps_pos.timestamp_variance = hrt_absolute_time();
 				_report_gps_pos.timestamp_velocity = hrt_absolute_time();
 				_report_gps_pos.timestamp_time = hrt_absolute_time();
-				if (_report_gps_pos_pub > 0) {
+				if (_report_gps_pos_pub != nullptr) {
 					orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
 
 				} else {
@@ -381,7 +381,7 @@ GPS::task_main()
 							orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
 						}
 						if (_p_report_sat_info && (helper_ret & 2)) {
-							if (_report_sat_info_pub > 0) {
+							if (_report_sat_info_pub != nullptr) {
 								orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, _p_report_sat_info);
 
 							} else {

src/drivers/hmc5883/hmc5883.cpp

@@ -360,7 +360,7 @@ HMC5883::HMC5883(device::Device *interface, const char *path, enum Rotation rota
 	_collect_phase(false),
 	_class_instance(-1),
 	_orb_class_instance(-1),
-	_mag_topic(0),
+	_mag_topic(nullptr),
 	_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
@@ -986,14 +986,14 @@ HMC5883::collect()
 
 	if (!(_pub_blocked)) {
 
-		if (_mag_topic != 0) {
+		if (_mag_topic != nullptr) {
 			/* publish it */
 			orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
 		} else {
 			_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &new_report,
 				&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
 
-			if (_mag_topic == 0)
+			if (_mag_topic == nullptr)
 				debug("ADVERT FAIL");
 		}
 	}

src/drivers/hott/messages.cpp

@@ -63,7 +63,7 @@ static int _sensor_sub = -1;
 static int _airspeed_sub = -1;
 static int _esc_sub = -1;
 
-static orb_advert_t _esc_pub = 0;
+static orb_advert_t _esc_pub = nullptr;
 
 static bool _home_position_set = false;
 static double _home_lat = 0.0d;
@@ -120,7 +120,7 @@ publish_gam_message(const uint8_t *buffer)
 	esc.esc[0].esc_current = static_cast<float>((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1F;
 
 	/* announce the esc if needed, just publish else */
-	if (_esc_pub > 0) {
+	if (_esc_pub != nullptr) {
 		orb_publish(ORB_ID(esc_status), _esc_pub, &esc);
 	} else {
 		_esc_pub = orb_advertise(ORB_ID(esc_status), &esc);

src/drivers/l3gd20/l3gd20.cpp

@@ -411,7 +411,7 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotati
 	_gyro_scale{},
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
-	_gyro_topic(0),
+	_gyro_topic(nullptr),
 	_orb_class_instance(-1),
 	_class_instance(-1),
 	_current_rate(0),
@@ -490,7 +490,7 @@ L3GD20::init()
 	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
 		&_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
 
-	if (_gyro_topic == 0) {
+	if (_gyro_topic == nullptr) {
 		debug("failed to create sensor_gyro publication");
 	}
 

src/drivers/lsm303d/lsm303d.cpp

@@ -563,7 +563,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota
 	_mag_range_ga(0.0f),
 	_mag_range_scale(0.0f),
 	_mag_samplerate(0),
-	_accel_topic(0),
+	_accel_topic(nullptr),
 	_accel_orb_class_instance(-1),
 	_accel_class_instance(-1),
 	_accel_read(0),
@@ -676,7 +676,7 @@ LSM303D::init()
 	_mag->_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
 		&_mag->_mag_orb_class_instance, ORB_PRIO_LOW);
 
-	if (_mag->_mag_topic == 0) {
+	if (_mag->_mag_topic == nullptr) {
 		warnx("ADVERT ERR");
 	}
 
@@ -691,7 +691,7 @@ LSM303D::init()
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
 		&_accel_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
 
-	if (_accel_topic == 0) {
+	if (_accel_topic == nullptr) {
 		warnx("ADVERT ERR");
 	}
 
@@ -1770,7 +1770,7 @@ LSM303D::test_error()
 LSM303D_mag::LSM303D_mag(LSM303D *parent) :
 	CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG),
 	_parent(parent),
-	_mag_topic(0),
+	_mag_topic(nullptr),
 	_mag_orb_class_instance(-1),
 	_mag_class_instance(-1)
 {

src/drivers/mb12xx/mb12xx.cpp

@@ -623,9 +623,9 @@ MB12XX::start()
 		true,
 		SUBSYSTEM_TYPE_RANGEFINDER
 	};
-	static orb_advert_t pub = -1;
+	static orb_advert_t pub = nullptr;
 
-	if (pub > 0) {
+	if (pub != nullptr) {
 		orb_publish(ORB_ID(subsystem_info), pub, &info);
 
 

src/drivers/meas_airspeed/meas_airspeed.cpp

@@ -249,7 +249,7 @@ MEASAirspeed::collect()
 	report.differential_pressure_raw_pa = diff_press_pa_raw;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
 
-	if (_airspeed_pub > 0 && !(_pub_blocked)) {
+	if (_airspeed_pub != nullptr && !(_pub_blocked)) {
 		/* publish it */
 		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
 	}

src/drivers/mpu6000/mpu6000.cpp

@@ -507,7 +507,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
 	_accel_scale{},
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
-	_accel_topic(0),
+	_accel_topic(nullptr),
 	_accel_orb_class_instance(-1),
 	_accel_class_instance(-1),
 	_gyro_reports(nullptr),
@@ -658,7 +658,7 @@ MPU6000::init()
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
 		&_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
 
-	if (_accel_topic == 0) {
+	if (_accel_topic == nullptr) {
 		warnx("ADVERT FAIL");
 	}
 
@@ -670,7 +670,7 @@ MPU6000::init()
 	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
 		&_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
 
-	if (_gyro->_gyro_topic == 0) {
+	if (_gyro->_gyro_topic == nullptr) {
 		warnx("ADVERT FAIL");
 	}
 
@@ -1847,7 +1847,7 @@ MPU6000::print_registers()
 MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
 	CDev("MPU6000_gyro", path),
 	_parent(parent),
-	_gyro_topic(0),
+	_gyro_topic(nullptr),
 	_gyro_orb_class_instance(-1),
 	_gyro_class_instance(-1)
 {

src/drivers/ms5611/ms5611_nuttx.cpp

@@ -224,7 +224,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char*
 	_OFF(0),
 	_SENS(0),
 	_msl_pressure(101325),
-	_baro_topic(0),
+	_baro_topic(nullptr),
 	_orb_class_instance(-1),
 	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
@@ -322,7 +322,7 @@ MS5611::init()
 				&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
 
 
-		if (_baro_topic == 0) {
+		if (_baro_topic == nullptr) {
 			warnx("failed to create sensor_baro publication");
 		}
 

src/drivers/ms5611/ms5611_posix.cpp

@@ -223,7 +223,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char*
 	_OFF(0),
 	_SENS(0),
 	_msl_pressure(101325),
-	_baro_topic(0),
+	_baro_topic(nullptr),
 	_orb_class_instance(-1),
 	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
@@ -325,7 +325,7 @@ MS5611::init()
 		_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
 				&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
 
-		if (_baro_topic == 0) {
+		if (_baro_topic == nullptr) {
 			warnx("failed to create sensor_baro publication");
 		}
 		//warnx("sensor_baro publication %ld", _baro_topic);

src/drivers/px4flow/px4flow.cpp

@@ -517,7 +517,7 @@ PX4FLOW::collect()
 	float zeroval = 0.0f;
 	rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
 
-	if (_px4flow_topic == 0) {
+	if (_px4flow_topic == nullptr) {
 		_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
 
 	} else {
@@ -570,9 +570,9 @@ PX4FLOW::start()
 		true,
 		SUBSYSTEM_TYPE_OPTICALFLOW
 	};
-	static orb_advert_t pub = -1;
+	static orb_advert_t pub = nullptr;
 
-	if (pub > 0) {
+	if (pub != nullptr) {
 		orb_publish(ORB_ID(subsystem_info), pub, &info);
 
 	} else {

src/drivers/px4fmu/fmu.cpp

@@ -253,7 +253,7 @@ PX4FMU::PX4FMU() :
 	_current_update_rate(0),
 	_task(-1),
 	_armed_sub(-1),
-	_outputs_pub(-1),
+	_outputs_pub(nullptr),
 	_armed{},
 	_num_outputs(0),
 	_class_instance(0),
@@ -692,7 +692,7 @@ PX4FMU::task_main()
 				}
 
 				/* publish mixed control outputs */
-				if (_outputs_pub < 0) {
+				if (_outputs_pub != nullptr) {
 					_outputs_pub = orb_advertise_multi(ORB_ID(actuator_outputs), &outputs, &_actuator_output_topic_instance, ORB_PRIO_DEFAULT);
 				} else {
 
@@ -1837,7 +1837,7 @@ fake(int argc, char *argv[])
 
 	orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
 
-	if (handle < 0)
+	if (handle == nullptr)
 		errx(1, "advertise failed");
 
 	actuator_armed_s aa;
@@ -1847,7 +1847,7 @@ fake(int argc, char *argv[])
 
 	handle = orb_advertise(ORB_ID(actuator_armed), &aa);
 
-	if (handle < 0)
+	if (handle == nullptr)
 		errx(1, "advertise failed 2");
 
 	exit(0);

src/drivers/px4io/px4io.cpp

@@ -515,12 +515,12 @@ PX4IO::PX4IO(device::Device *interface) :
 	_t_vehicle_control_mode(-1),
 	_t_param(-1),
 	_t_vehicle_command(-1),
-	_to_input_rc(0),
-	_to_outputs(0),
-	_to_battery(0),
-	_to_servorail(0),
-	_to_safety(0),
-	_to_mixer_status(0),
+	_to_input_rc(nullptr),
+	_to_outputs(nullptr),
+	_to_battery(nullptr),
+	_to_servorail(nullptr),
+	_to_safety(nullptr),
+	_to_mixer_status(nullptr),
 	_outputs{},
 	_servorail_status{},
 	_primary_pwm_device(false),
@@ -1474,7 +1474,7 @@ PX4IO::io_handle_status(uint16_t status)
 	}
 
 	/* lazily publish the safety status */
-	if (_to_safety > 0) {
+	if (_to_safety != nullptr) {
 		orb_publish(ORB_ID(safety), _to_safety, &safety);
 
 	} else {
@@ -1549,7 +1549,7 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
 	/* the announced battery status would conflict with the simulated battery status in HIL */
 	if (!(_pub_blocked)) {
 		/* lazily publish the battery voltage */
-		if (_to_battery > 0) {
+		if (_to_battery != nullptr) {
 			orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
 
 		} else {
@@ -1568,7 +1568,7 @@ PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi)
 	_servorail_status.rssi_v    = vrssi * 0.001f;
 
 	/* lazily publish the servorail voltages */
-	if (_to_servorail > 0) {
+	if (_to_servorail != nullptr) {
 		orb_publish(ORB_ID(servorail_status), _to_servorail, &_servorail_status);
 
 	} else {
@@ -1723,7 +1723,7 @@ PX4IO::io_publish_raw_rc()
 	}
 
 	/* lazily advertise on first publication */
-	if (_to_input_rc == 0) {
+	if (_to_input_rc == nullptr) {
 		_to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_val);
 
 	} else {
@@ -1756,7 +1756,7 @@ PX4IO::io_publish_pwm_outputs()
 	outputs.noutputs = _max_actuators;
 
 	/* lazily advertise on first publication */
-	if (_to_outputs == 0) {
+	if (_to_outputs == nullptr) {
 		int instance;
 		_to_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
 					    &outputs, &instance, ORB_PRIO_MAX);
@@ -1774,7 +1774,7 @@ PX4IO::io_publish_pwm_outputs()
 		return ret;
 
 	/* publish mixer status */
-	if(_to_mixer_status == 0) {
+	if(_to_mixer_status == nullptr) {
 		_to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &motor_limits);
 	} else {
 		orb_publish(ORB_ID(multirotor_motor_limits),_to_mixer_status, &motor_limits);

src/drivers/sf0x/sf0x.cpp

@@ -293,7 +293,6 @@ SF0X::init()
 
 		_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
-<<<<<<< HEAD
 		if (_class_instance == CLASS_DEVICE_PRIMARY) {
 			/* get a publish handle on the range finder topic */
 			struct distance_sensor_s ds_report = {};
@@ -301,13 +300,9 @@ SF0X::init()
 			_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
 								     &_orb_class_instance, ORB_PRIO_HIGH);
 
-			if (_distance_sensor_topic < 0) {
+			if (_distance_sensor_topic == nullptr) {
 				log("failed to create distance_sensor object. Did you start uOrb?");
 			}
-=======
-		if (_range_finder_topic == 0) {
-			warnx("advert err");
->>>>>>> extensive orb_advert_t fixes
 		}
 
 	} while(0);

src/drivers/stm32/adc/adc.cpp

@@ -148,7 +148,7 @@ ADC::ADC(uint32_t channels) :
 	_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
 	_channel_count(0),
 	_samples(nullptr),
-	_to_system_power(0)
+	_to_system_power(nullptr)
 {
 	_debug_enabled = true;
 
@@ -329,7 +329,7 @@ ADC::update_system_power(void)
 	system_power.hipower_5V_OC = !stm32_gpioread(GPIO_VDD_5V_HIPOWER_OC);
 
 	/* lazily publish */
-	if (_to_system_power > 0) {
+	if (_to_system_power != nullptr) {
 		orb_publish(ORB_ID(system_power), _to_system_power, &system_power);
 	} else {
 		_to_system_power = orb_advertise(ORB_ID(system_power), &system_power);

src/drivers/trone/trone.cpp

@@ -301,7 +301,7 @@ TRONE::init()
 		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
 							     &_orb_class_instance, ORB_PRIO_LOW);
 
-		if (_distance_sensor_topic == 0) {
+		if (_distance_sensor_topic == nullptr) {
 			log("failed to create distance_sensor object. Did you start uOrb?");
 		}
 	}