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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/fw_att_control/fw_att_control_main.cpp
+9 -9
View File
@@ -337,10 +337,10 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_vehicle_status_sub(-1),
/* publications */
_rate_sp_pub(0),
_attitude_sp_pub(0),
_actuators_0_pub(0),
_actuators_2_pub(0),
_rate_sp_pub(nullptr),
_attitude_sp_pub(nullptr),
_actuators_0_pub(nullptr),
_actuators_2_pub(nullptr),
_rates_sp_id(0),
_actuators_id(0),
@@ -907,11 +907,11 @@ FixedwingAttitudeControl::task_main()
att_sp.thrust = throttle_sp;
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub > 0 && !_vehicle_status.is_rotary_wing) {
if (_attitude_sp_pub != nullptr && !_vehicle_status.is_rotary_wing) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &att_sp);
} else if (_attitude_sp_pub < 0 && !_vehicle_status.is_rotary_wing) {
} else if (_attitude_sp_pub != nullptr && !_vehicle_status.is_rotary_wing) {
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
}
@@ -1045,7 +1045,7 @@ FixedwingAttitudeControl::task_main()
_rates_sp.timestamp = hrt_absolute_time();
if (_rate_sp_pub > 0) {
if (_rate_sp_pub != nullptr) {
/* publish the attitude rates setpoint */
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
} else if (_rates_sp_id) {
@@ -1078,13 +1078,13 @@ FixedwingAttitudeControl::task_main()
_vcontrol_mode.flag_control_manual_enabled)
{
/* publish the actuator controls */
if (_actuators_0_pub > 0) {
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
} else if (_actuators_id) {
_actuators_0_pub= orb_advertise(_actuators_id, &_actuators);
}
if (_actuators_2_pub > 0) {
if (_actuators_2_pub != nullptr) {
/* publish the actuator controls*/
orb_publish(ORB_ID(actuator_controls_2), _actuators_2_pub, &_actuators_airframe);