mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 11:23:33 +08:00
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>
This commit is contained in:
Mark Charlebois
committed by
Lorenz Meier
Lorenz Meier
parent
180c8b0cb0
commit
1ca05aaa64
@@ -149,7 +149,7 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int
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_current_seq = seq;
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/* mission state saved successfully, publish offboard_mission topic */
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if (_offboard_mission_pub == 0) {
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if (_offboard_mission_pub == nullptr) {
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_offboard_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
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} else {
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@@ -162,7 +162,7 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
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}
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_rc_param_map.timestamp = hrt_absolute_time();
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if (_rc_param_map_pub == 0) {
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if (_rc_param_map_pub == nullptr) {
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_rc_param_map_pub = orb_advertise(ORB_ID(rc_parameter_map), &_rc_param_map);
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} else {
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@@ -95,34 +95,34 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
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hil_local_pos{},
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hil_land_detector{},
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_control_mode{},
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_global_pos_pub(0),
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_local_pos_pub(0),
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_attitude_pub(0),
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_gps_pub(0),
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_sensors_pub(0),
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_gyro_pub(0),
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_accel_pub(0),
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_mag_pub(0),
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_baro_pub(0),
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_airspeed_pub(0),
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_battery_pub(0),
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_cmd_pub(0),
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_flow_pub(0),
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_distance_sensor_pub(0),
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_offboard_control_mode_pub(0),
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_actuator_controls_pub(0),
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_global_vel_sp_pub(0),
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_att_sp_pub(0),
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_rates_sp_pub(0),
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_force_sp_pub(0),
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_pos_sp_triplet_pub(0),
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_vicon_position_pub(0),
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_vision_position_pub(0),
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_telemetry_status_pub(0),
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_rc_pub(0),
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_manual_pub(0),
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_land_detector_pub(0),
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_time_offset_pub(0),
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_global_pos_pub(nullptr),
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_local_pos_pub(nullptr),
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_attitude_pub(nullptr),
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_gps_pub(nullptr),
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_sensors_pub(nullptr),
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_gyro_pub(nullptr),
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_accel_pub(nullptr),
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_mag_pub(nullptr),
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_baro_pub(nullptr),
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_airspeed_pub(nullptr),
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_battery_pub(nullptr),
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_cmd_pub(nullptr),
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_flow_pub(nullptr),
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_distance_sensor_pub(nullptr),
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_offboard_control_mode_pub(nullptr),
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_actuator_controls_pub(nullptr),
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_global_vel_sp_pub(nullptr),
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_att_sp_pub(nullptr),
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_rates_sp_pub(nullptr),
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_force_sp_pub(nullptr),
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_pos_sp_triplet_pub(nullptr),
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_vicon_position_pub(nullptr),
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_vision_position_pub(nullptr),
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_telemetry_status_pub(nullptr),
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_rc_pub(nullptr),
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_manual_pub(nullptr),
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_land_detector_pub(nullptr),
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_time_offset_pub(nullptr),
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_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
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_hil_frames(0),
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_old_timestamp(0),
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@@ -314,7 +314,7 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
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vcmd.source_component = msg->compid;
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vcmd.confirmation = cmd_mavlink.confirmation;
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if (_cmd_pub == 0) {
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if (_cmd_pub == nullptr) {
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_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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} else {
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@@ -370,7 +370,7 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
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vcmd.source_system = msg->sysid;
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vcmd.source_component = msg->compid;
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if (_cmd_pub == 0) {
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if (_cmd_pub == nullptr) {
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_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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} else {
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@@ -410,7 +410,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
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float zeroval = 0.0f;
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rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
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if (_flow_pub == 0) {
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if (_flow_pub == nullptr) {
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_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
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} else {
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@@ -430,7 +430,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
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d.orientation = 8;
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d.covariance = 0.0;
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if (_distance_sensor_pub < 0) {
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if (_distance_sensor_pub == nullptr) {
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_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
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&_orb_class_instance, ORB_PRIO_HIGH);
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} else {
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@@ -461,7 +461,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
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f.sensor_id = flow.sensor_id;
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f.gyro_temperature = flow.temperature;
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if (_flow_pub == 0) {
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if (_flow_pub == nullptr) {
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_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
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} else {
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@@ -481,7 +481,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
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d.orientation = 8;
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d.covariance = 0.0;
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if (_distance_sensor_pub < 0) {
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if (_distance_sensor_pub == nullptr) {
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_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
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&_orb_class_instance, ORB_PRIO_HIGH);
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} else {
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@@ -515,7 +515,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
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vcmd.source_component = msg->compid;
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vcmd.confirmation = 1;
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if (_cmd_pub == 0) {
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if (_cmd_pub == nullptr) {
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_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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} else {
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@@ -544,7 +544,7 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
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/// TODO Add sensor rotation according to MAV_SENSOR_ORIENTATION enum
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if (_distance_sensor_pub < 0) {
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if (_distance_sensor_pub == nullptr) {
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_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
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&_orb_class_instance, ORB_PRIO_HIGH);
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@@ -570,7 +570,7 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
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vicon_position.pitch = pos.pitch;
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vicon_position.yaw = pos.yaw;
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if (_vicon_position_pub == 0) {
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if (_vicon_position_pub == nullptr) {
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_vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
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} else {
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@@ -605,7 +605,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
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offboard_control_mode.timestamp = hrt_absolute_time();
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if (_offboard_control_mode_pub == 0) {
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if (_offboard_control_mode_pub == nullptr) {
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_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
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} else {
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@@ -630,7 +630,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
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force_sp.y = set_position_target_local_ned.afy;
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force_sp.z = set_position_target_local_ned.afz;
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//XXX: yaw
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if (_force_sp_pub == 0) {
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if (_force_sp_pub == nullptr) {
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_force_sp_pub = orb_advertise(ORB_ID(vehicle_force_setpoint), &force_sp);
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} else {
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orb_publish(ORB_ID(vehicle_force_setpoint), _force_sp_pub, &force_sp);
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@@ -697,7 +697,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
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//XXX handle global pos setpoints (different MAV frames)
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if (_pos_sp_triplet_pub == 0) {
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if (_pos_sp_triplet_pub == nullptr) {
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_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet),
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&pos_sp_triplet);
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} else {
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@@ -740,7 +740,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
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offboard_control_mode.timestamp = hrt_absolute_time();
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if (_offboard_control_mode_pub == 0) {
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if (_offboard_control_mode_pub == nullptr) {
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_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &offboard_control_mode);
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} else {
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orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
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@@ -763,7 +763,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
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actuator_controls.control[i] = set_actuator_control_target.controls[i];
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}
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if (_actuator_controls_pub == 0) {
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if (_actuator_controls_pub == nullptr) {
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_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &actuator_controls);
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} else {
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orb_publish(ORB_ID(actuator_controls_0), _actuator_controls_pub, &actuator_controls);
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@@ -804,7 +804,7 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
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vision_position.q[2] = q(2);
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vision_position.q[3] = q(3);
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if (_vision_position_pub == 0) {
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if (_vision_position_pub == nullptr) {
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_vision_position_pub = orb_advertise(ORB_ID(vision_position_estimate), &vision_position);
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} else {
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@@ -857,7 +857,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
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_offboard_control_mode.timestamp = hrt_absolute_time();
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if (_offboard_control_mode_pub == 0) {
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if (_offboard_control_mode_pub == nullptr) {
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_offboard_control_mode_pub = orb_advertise(ORB_ID(offboard_control_mode), &_offboard_control_mode);
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} else {
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@@ -892,7 +892,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
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_att_sp.thrust = set_attitude_target.thrust;
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}
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if (_att_sp_pub == 0) {
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if (_att_sp_pub == nullptr) {
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_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
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} else {
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orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
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@@ -912,7 +912,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
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_rates_sp.thrust = set_attitude_target.thrust;
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}
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if (_att_sp_pub == 0) {
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if (_att_sp_pub == nullptr) {
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_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp);
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} else {
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orb_publish(ORB_ID(vehicle_rates_setpoint), _rates_sp_pub, &_rates_sp);
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@@ -948,7 +948,7 @@ MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
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tstatus.system_id = msg->sysid;
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tstatus.component_id = msg->compid;
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if (_telemetry_status_pub == 0) {
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if (_telemetry_status_pub == nullptr) {
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_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
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} else {
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@@ -974,7 +974,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
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// warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
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if (_manual_pub == 0) {
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if (_manual_pub == nullptr) {
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_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
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} else {
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@@ -1001,7 +1001,7 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
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tstatus.timestamp = hrt_absolute_time();
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tstatus.heartbeat_time = tstatus.timestamp;
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if (_telemetry_status_pub == 0) {
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if (_telemetry_status_pub == nullptr) {
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_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
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} else {
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@@ -1105,7 +1105,7 @@ MavlinkReceiver::handle_message_timesync(mavlink_message_t *msg)
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tsync_offset.offset_ns = _time_offset ;
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if (_time_offset_pub == 0) {
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if (_time_offset_pub == nullptr) {
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_time_offset_pub = orb_advertise(ORB_ID(time_offset), &tsync_offset);
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} else {
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@@ -1135,7 +1135,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
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airspeed.indicated_airspeed_m_s = ias;
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airspeed.true_airspeed_m_s = tas;
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if (_airspeed_pub == 0) {
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if (_airspeed_pub == nullptr) {
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_airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed);
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} else {
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@@ -1157,7 +1157,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
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gyro.z = imu.zgyro;
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gyro.temperature = imu.temperature;
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if (_gyro_pub == 0) {
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if (_gyro_pub == nullptr) {
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_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
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} else {
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@@ -1179,7 +1179,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
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accel.z = imu.zacc;
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accel.temperature = imu.temperature;
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if (_accel_pub == 0) {
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if (_accel_pub == nullptr) {
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_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
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} else {
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@@ -1200,7 +1200,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
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mag.y = imu.ymag;
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mag.z = imu.zmag;
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if (_mag_pub == 0) {
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if (_mag_pub == nullptr) {
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/* publish to the first mag topic */
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_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
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@@ -1219,7 +1219,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
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baro.altitude = imu.pressure_alt;
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baro.temperature = imu.temperature;
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if (_baro_pub == 0) {
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if (_baro_pub == nullptr) {
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_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
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} else {
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@@ -1275,7 +1275,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
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hil_sensors.differential_pressure_timestamp = timestamp;
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/* publish combined sensor topic */
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if (_sensors_pub == 0) {
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if (_sensors_pub == nullptr) {
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_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
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} else {
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@@ -1294,7 +1294,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
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hil_battery_status.current_a = 10.0f;
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hil_battery_status.discharged_mah = -1.0f;
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if (_battery_pub == 0) {
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if (_battery_pub == nullptr) {
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_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
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} else {
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@@ -1348,7 +1348,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
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hil_gps.fix_type = gps.fix_type;
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hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used?
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if (_gps_pub == 0) {
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if (_gps_pub == nullptr) {
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_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
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} else {
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@@ -1373,7 +1373,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
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airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
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airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
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if (_airspeed_pub == 0) {
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if (_airspeed_pub == nullptr) {
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_airspeed_pub = orb_advertise(ORB_ID(airspeed), &airspeed);
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} else {
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@@ -1406,7 +1406,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
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hil_attitude.pitchspeed = hil_state.pitchspeed;
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hil_attitude.yawspeed = hil_state.yawspeed;
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if (_attitude_pub == 0) {
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if (_attitude_pub == nullptr) {
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_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
|
||||
|
||||
} else {
|
||||
@@ -1430,7 +1430,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
|
||||
hil_global_pos.eph = 2.0f;
|
||||
hil_global_pos.epv = 4.0f;
|
||||
|
||||
if (_global_pos_pub == 0) {
|
||||
if (_global_pos_pub == nullptr) {
|
||||
_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
|
||||
|
||||
} else {
|
||||
@@ -1471,7 +1471,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
|
||||
hil_local_pos.xy_global = true;
|
||||
hil_local_pos.z_global = true;
|
||||
|
||||
if (_local_pos_pub == 0) {
|
||||
if (_local_pos_pub == nullptr) {
|
||||
_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
|
||||
|
||||
} else {
|
||||
@@ -1486,7 +1486,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
|
||||
hil_land_detector.landed = landed;
|
||||
hil_land_detector.timestamp = hrt_absolute_time();
|
||||
|
||||
if (_land_detector_pub == 0) {
|
||||
if (_land_detector_pub == nullptr) {
|
||||
_land_detector_pub = orb_advertise(ORB_ID(vehicle_land_detected), &hil_land_detector);
|
||||
|
||||
} else {
|
||||
@@ -1509,7 +1509,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
|
||||
accel.z = hil_state.zacc;
|
||||
accel.temperature = 25.0f;
|
||||
|
||||
if (_accel_pub == 0) {
|
||||
if (_accel_pub == nullptr) {
|
||||
_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
|
||||
|
||||
} else {
|
||||
@@ -1528,7 +1528,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
|
||||
hil_battery_status.current_a = 10.0f;
|
||||
hil_battery_status.discharged_mah = -1.0f;
|
||||
|
||||
if (_battery_pub == 0) {
|
||||
if (_battery_pub == nullptr) {
|
||||
_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
|
||||
|
||||
} else {
|
||||
|
||||
Reference in New Issue
Block a user