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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+5 -5
View File
@@ -687,7 +687,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home->lat, home->lon, (double)home->alt);
/* announce new home position */
if (*home_pub > 0) {
if (*home_pub != nullptr) {
orb_publish(ORB_ID(home_position), *home_pub, home);
} else {
@@ -796,7 +796,7 @@ static void commander_set_home_position(orb_advert_t &homePub, home_position_s &
mavlink_log_info(mavlink_fd, "home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
/* announce new home position */
if (homePub > 0) {
if (homePub != nullptr) {
orb_publish(ORB_ID(home_position), homePub, &home);
} else {
@@ -934,7 +934,7 @@ int commander_thread_main(int argc, char *argv[])
/* publish initial state */
status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
if (status_pub == 0) {
if (status_pub == nullptr) {
warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
warnx("exiting.");
px4_task_exit(ERROR);
@@ -952,12 +952,12 @@ int commander_thread_main(int argc, char *argv[])
armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
/* home position */
orb_advert_t home_pub = 0;
orb_advert_t home_pub = nullptr;
struct home_position_s home;
memset(&home, 0, sizeof(home));
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
orb_advert_t mission_pub = 0;
orb_advert_t mission_pub = nullptr;
mission_s mission;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
src/modules/commander/state_machine_helper.cpp
+1 -1
View File
@@ -482,7 +482,7 @@ static transition_result_t disable_publication(const int mavlink_fd)
/**
* Transition from one hil state to another
*/
transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
{
transition_result_t ret = TRANSITION_DENIED;
src/modules/commander/state_machine_helper.h
+1 -1
View File
@@ -61,7 +61,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *current_sta
transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);
transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);
transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe);