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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/vtol_att_control/vtol_att_control_main.cpp
+10 -10
View File
@@ -230,10 +230,10 @@ VtolAttitudeControl::VtolAttitudeControl() :
_battery_status_sub(-1),
//init publication handlers
_actuators_0_pub(0),
_actuators_1_pub(0),
_vtol_vehicle_status_pub(0),
_v_rates_sp_pub(0),
_actuators_0_pub(nullptr),
_actuators_1_pub(nullptr),
_vtol_vehicle_status_pub(nullptr),
_v_rates_sp_pub(nullptr),
_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control nonfinite input"))
@@ -716,7 +716,7 @@ void VtolAttitudeControl::task_main()
while (!_task_should_exit) {
/*Advertise/Publish vtol vehicle status*/
if (_vtol_vehicle_status_pub > 0) {
if (_vtol_vehicle_status_pub != nullptr) {
orb_publish(ORB_ID(vtol_vehicle_status), _vtol_vehicle_status_pub, &_vtol_vehicle_status);
} else {
@@ -788,14 +788,14 @@ void VtolAttitudeControl::task_main()
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled)
{
if (_actuators_0_pub > 0) {
if (_actuators_0_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
if (_actuators_1_pub > 0) {
if (_actuators_1_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
} else {
@@ -825,14 +825,14 @@ void VtolAttitudeControl::task_main()
_v_control_mode.flag_control_rates_enabled ||
_v_control_mode.flag_control_manual_enabled)
{
if (_actuators_0_pub > 0) {
if (_actuators_0_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
} else {
_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators_out_0);
}
if (_actuators_1_pub > 0) {
if (_actuators_1_pub != nullptr) {
orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_out_1);
} else {
@@ -843,7 +843,7 @@ void VtolAttitudeControl::task_main()
}
// publish the attitude rates setpoint
if(_v_rates_sp_pub > 0) {
if(_v_rates_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_rates_setpoint),_v_rates_sp_pub,&_v_rates_sp);
}
else {