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orb_advert_t changed to void * and checks changed to nullptr

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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>
This commit is contained in:
Mark Charlebois
2015-05-27 14:42:49 -07:00
committed by Lorenz Meier
parent 180c8b0cb0
commit 1ca05aaa64
59 changed files with 263 additions and 269 deletions
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src/modules/bottle_drop/bottle_drop.cpp
+6 -6
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@@ -180,7 +180,7 @@ BottleDrop::BottleDrop() :
_command {},
_global_pos {},
ref {},
_actuator_pub(0),
_actuator_pub(nullptr),
_actuators {},
_drop_approval(false),
_doors_opened(0),
@@ -190,7 +190,7 @@ BottleDrop::BottleDrop() :
_drop_position {},
_drop_state(DROP_STATE_INIT),
_onboard_mission {},
_onboard_mission_pub(0)
_onboard_mission_pub(nullptr)
{
}
@@ -321,12 +321,12 @@ BottleDrop::actuators_publish()
_actuators.timestamp = hrt_absolute_time();
// lazily publish _actuators only once available
if (_actuator_pub > 0) {
if (_actuator_pub != nullptr) {
return orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &_actuators);
} else {
_actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &_actuators);
if (_actuator_pub > 0) {
if (_actuator_pub != nullptr) {
return OK;
} else {
return -1;
@@ -619,7 +619,7 @@ BottleDrop::task_main()
_onboard_mission.count = 2;
_onboard_mission.current_seq = 0;
if (_onboard_mission_pub > 0) {
if (_onboard_mission_pub != nullptr) {
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
} else {
@@ -791,7 +791,7 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
// Abort if mission is present
_onboard_mission.current_seq = -1;
if (_onboard_mission_pub > 0) {
if (_onboard_mission_pub != nullptr) {
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
}