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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_pos_control_l1/fw_pos_control_l1_main.cpp
+6 -6
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@@ -434,9 +434,9 @@ FixedwingPositionControl::FixedwingPositionControl() :
_sensor_combined_sub(-1),
/* publications */
_attitude_sp_pub(0),
_tecs_status_pub(0),
_nav_capabilities_pub(0),
_attitude_sp_pub(nullptr),
_tecs_status_pub(nullptr),
_nav_capabilities_pub(nullptr),
/* states */
_att(),
@@ -855,7 +855,7 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &c
void FixedwingPositionControl::navigation_capabilities_publish()
{
if (_nav_capabilities_pub > 0) {
if (_nav_capabilities_pub != nullptr) {
orb_publish(ORB_ID(navigation_capabilities), _nav_capabilities_pub, &_nav_capabilities);
} else {
_nav_capabilities_pub = orb_advertise(ORB_ID(navigation_capabilities), &_nav_capabilities);
@@ -1463,7 +1463,7 @@ FixedwingPositionControl::task_main()
_att_sp.timestamp = hrt_absolute_time();
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub > 0) {
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _attitude_sp_pub, &_att_sp);
@@ -1607,7 +1607,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
t.energyDistributionRateSp = s.ptch;
t.energyDistributionRate = s.iptch;
if (_tecs_status_pub > 0) {
if (_tecs_status_pub != nullptr) {
orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
} else {
_tecs_status_pub = orb_advertise(ORB_ID(tecs_status), &t);