From 279df3b1b8d9414689bca660d77ed3f9da875d17 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 27 Oct 2019 17:32:29 -0400
Subject: [PATCH] clang-tidy: partially fix hicpp-use-equals-delete

---
 .../px4_work_queue/WorkItem.hpp               |  9 ++++-
 src/lib/cdev/CDev.hpp                         | 11 +++---
 src/lib/drivers/device/Device.hpp             | 13 +++----
 src/lib/drivers/device/nuttx/I2C.hpp          |  8 +++--
 src/lib/drivers/device/nuttx/SPI.hpp          | 11 +++---
 src/lib/drivers/device/posix/I2C.hpp          | 12 ++++---
 src/lib/drivers/device/posix/SPI.hpp          | 36 ++++++++++++++++---
 .../BlockLocalPositionEstimator.hpp           |  5 +--
 .../uORB/uORB_tests/uORBTest_UnitTest.hpp     |  8 ++---
 9 files changed, 81 insertions(+), 32 deletions(-)

diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
index d229499b62..9b493f4250 100644
--- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
+++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
@@ -49,6 +49,14 @@ class WorkItem : public ListNode<WorkItem *>, public IntrusiveQueueNode<WorkItem
 {
 public:
 
+	WorkItem() = delete;
+
+	// no copy, assignment, move, move assignment
+	WorkItem(const WorkItem &) = delete;
+	WorkItem &operator=(const WorkItem &) = delete;
+	WorkItem(WorkItem &&) = delete;
+	WorkItem &operator=(WorkItem &&) = delete;
+
 	inline void ScheduleNow()
 	{
 		if (_wq != nullptr) {
@@ -70,7 +78,6 @@ public:
 protected:
 
 	explicit WorkItem(const char *name, const wq_config_t &config);
-	WorkItem() = delete;
 
 	virtual ~WorkItem();
 
diff --git a/src/lib/cdev/CDev.hpp b/src/lib/cdev/CDev.hpp
index f51ed45a3d..049a01ff3d 100644
--- a/src/lib/cdev/CDev.hpp
+++ b/src/lib/cdev/CDev.hpp
@@ -64,7 +64,13 @@ public:
 	 * @param name		Driver name
 	 * @param devname	Device node name
 	 */
-	CDev(const char *devname);
+	explicit CDev(const char *devname);
+
+	// no copy, assignment, move, move assignment
+	CDev(const CDev &) = delete;
+	CDev &operator=(const CDev &) = delete;
+	CDev(CDev &&) = delete;
+	CDev &operator=(CDev &&) = delete;
 
 	virtual ~CDev();
 
@@ -301,9 +307,6 @@ private:
 	 */
 	inline int	remove_poll_waiter(px4_pollfd_struct_t *fds);
 
-	/* do not allow copying this class */
-	CDev(const CDev &);
-	CDev operator=(const CDev &);
 };
 
 } // namespace cdev
diff --git a/src/lib/drivers/device/Device.hpp b/src/lib/drivers/device/Device.hpp
index 5d734a6522..849859a38f 100644
--- a/src/lib/drivers/device/Device.hpp
+++ b/src/lib/drivers/device/Device.hpp
@@ -65,6 +65,13 @@ namespace device
 class __EXPORT Device
 {
 public:
+
+	// no copy, assignment, move, move assignment
+	Device(const Device &) = delete;
+	Device &operator=(const Device &) = delete;
+	Device(Device &&) = delete;
+	Device &operator=(Device &&) = delete;
+
 	/**
 	 * Destructor.
 	 *
@@ -253,12 +260,6 @@ protected:
 		_device_id.devid_s.devtype = devtype;
 	}
 
-	// no copy, assignment, move, move assignment
-	Device(const Device &) = delete;
-	Device &operator=(const Device &) = delete;
-	Device(Device &&) = delete;
-	Device &operator=(Device &&) = delete;
-
 };
 
 } // namespace device
diff --git a/src/lib/drivers/device/nuttx/I2C.hpp b/src/lib/drivers/device/nuttx/I2C.hpp
index 8f804f5640..e5754be56d 100644
--- a/src/lib/drivers/device/nuttx/I2C.hpp
+++ b/src/lib/drivers/device/nuttx/I2C.hpp
@@ -59,6 +59,12 @@ class __EXPORT I2C : public CDev
 
 public:
 
+	// no copy, assignment, move, move assignment
+	I2C(const I2C &) = delete;
+	I2C &operator=(const I2C &) = delete;
+	I2C(I2C &&) = delete;
+	I2C &operator=(I2C &&) = delete;
+
 	virtual int	init();
 
 	static int	set_bus_clock(unsigned bus, unsigned clock_hz);
@@ -109,8 +115,6 @@ private:
 	uint32_t		_frequency{0};
 	px4_i2c_dev_t		*_dev{nullptr};
 
-	I2C(const device::I2C &);
-	I2C operator=(const device::I2C &);
 };
 
 } // namespace device
diff --git a/src/lib/drivers/device/nuttx/SPI.hpp b/src/lib/drivers/device/nuttx/SPI.hpp
index ac83eb83ab..44118df5b2 100644
--- a/src/lib/drivers/device/nuttx/SPI.hpp
+++ b/src/lib/drivers/device/nuttx/SPI.hpp
@@ -50,6 +50,13 @@ namespace device __EXPORT
  */
 class __EXPORT SPI : public CDev
 {
+public:
+	// no copy, assignment, move, move assignment
+	SPI(const SPI &) = delete;
+	SPI &operator=(const SPI &) = delete;
+	SPI(SPI &&) = delete;
+	SPI &operator=(SPI &&) = delete;
+
 protected:
 	/**
 	 * Constructor
@@ -152,10 +159,6 @@ private:
 
 	LockMode		_locking_mode{LOCK_THREADS};	/**< selected locking mode */
 
-	/* this class does not allow copying */
-	SPI(const SPI &);
-	SPI operator=(const SPI &);
-
 protected:
 	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
 
diff --git a/src/lib/drivers/device/posix/I2C.hpp b/src/lib/drivers/device/posix/I2C.hpp
index b908aa0a53..c463e871da 100644
--- a/src/lib/drivers/device/posix/I2C.hpp
+++ b/src/lib/drivers/device/posix/I2C.hpp
@@ -60,6 +60,12 @@ class __EXPORT I2C : public CDev
 
 public:
 
+	// no copy, assignment, move, move assignment
+	I2C(const I2C &) = delete;
+	I2C &operator=(const I2C &) = delete;
+	I2C(I2C &&) = delete;
+	I2C &operator=(I2C &&) = delete;
+
 	virtual int	init();
 
 protected:
@@ -78,7 +84,7 @@ protected:
 	 * @param address	I2C bus address, or zero if set_address will be used
 	 * @param frequency	I2C bus frequency for the device (currently not used)
 	 */
-	I2C(const char *name, const char *devname, const int bus, const uint16_t address, const uint32_t frequency = 0);
+	I2C(const char *name, const char *devname, const int bus, const uint16_t address, const uint32_t frequency);
 	virtual ~I2C();
 
 	/**
@@ -103,10 +109,8 @@ protected:
 	bool		external() { return px4_i2c_bus_external(_device_id.devid_s.bus); }
 
 private:
-	int 			_fd{-1};
+	int			_fd{-1};
 
-	I2C(const device::I2C &);
-	I2C operator=(const device::I2C &);
 };
 
 } // namespace device
diff --git a/src/lib/drivers/device/posix/SPI.hpp b/src/lib/drivers/device/posix/SPI.hpp
index 9f0a1755c3..8950cc784d 100644
--- a/src/lib/drivers/device/posix/SPI.hpp
+++ b/src/lib/drivers/device/posix/SPI.hpp
@@ -65,6 +65,13 @@ namespace device __EXPORT
  */
 class __EXPORT SPI : public CDev
 {
+public:
+	// no copy, assignment, move, move assignment
+	SPI(const SPI &) = delete;
+	SPI &operator=(const SPI &) = delete;
+	SPI(SPI &&) = delete;
+	SPI &operator=(SPI &&) = delete;
+
 protected:
 	/**
 	 * Constructor
@@ -79,6 +86,15 @@ protected:
 	SPI(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency);
 	virtual ~SPI();
 
+	/**
+	 * Locking modes supported by the driver.
+	 */
+	enum LockMode {
+		LOCK_PREEMPTION,	/**< the default; lock against all forms of preemption. */
+		LOCK_THREADS,		/**< lock only against other threads, using SPI_LOCK */
+		LOCK_NONE		/**< perform no locking, only safe if the bus is entirely private */
+	};
+
 	virtual int	init();
 
 	/**
@@ -140,18 +156,28 @@ protected:
 	void		set_frequency(uint32_t frequency) { _frequency = frequency; }
 	uint32_t	get_frequency() { return _frequency; }
 
-private:
-	int 			_fd{-1};
+	/**
+	 * Set the SPI bus locking mode
+	 *
+	 * This set the SPI locking mode. For devices competing with NuttX SPI
+	 * drivers on a bus the right lock mode is LOCK_THREADS.
+	 *
+	 * @param mode	Locking mode
+	 */
+	void		set_lockmode(enum LockMode mode) { _locking_mode = mode; }
 
+private:
 	uint32_t		_device;
 	enum spi_mode_e		_mode;
 	uint32_t		_frequency;
+	int 			_fd{-1};
 
-	/* this class does not allow copying */
-	SPI(const SPI &);
-	SPI operator=(const SPI &);
+	LockMode		_locking_mode{LOCK_THREADS};	/**< selected locking mode */
 
 protected:
+	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
+
+	int	_transferhword(uint16_t *send, uint16_t *recv, unsigned len);
 
 	bool	external() { return px4_spi_bus_external(get_device_bus()); }
 
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
index ef6126e2f7..4ebfd8045c 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
@@ -106,6 +106,9 @@ class BlockLocalPositionEstimator : public control::SuperBlock, public ModulePar
 //
 public:
 
+	BlockLocalPositionEstimator(const BlockLocalPositionEstimator &) = delete;
+	BlockLocalPositionEstimator operator=(const BlockLocalPositionEstimator &) = delete;
+
 	// constants
 	enum {X_x = 0, X_y, X_z, X_vx, X_vy, X_vz, X_bx, X_by, X_bz, X_tz, n_x};
 	enum {U_ax = 0, U_ay, U_az, n_u};
@@ -154,8 +157,6 @@ public:
 	virtual ~BlockLocalPositionEstimator() = default;
 
 private:
-	BlockLocalPositionEstimator(const BlockLocalPositionEstimator &) = delete;
-	BlockLocalPositionEstimator operator=(const BlockLocalPositionEstimator &) = delete;
 
 	// methods
 	// ----------------------------
diff --git a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
index 83442f68aa..73559040bf 100644
--- a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
+++ b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
@@ -76,17 +76,17 @@ public:
 
 	// Singleton pattern
 	static uORBTest::UnitTest &instance();
-	~UnitTest() {}
+	~UnitTest() = default;
 	int test();
 	template<typename S> int latency_test(orb_id_t T, bool print);
 	int info();
 
-private:
-	UnitTest() : pubsubtest_passed(false), pubsubtest_print(false) {}
-
 	// Disallow copy
 	UnitTest(const uORBTest::UnitTest & /*unused*/) = delete;
 
+private:
+	UnitTest() : pubsubtest_passed(false), pubsubtest_print(false) {}
+
 	static int pubsubtest_threadEntry(int argc, char *argv[]);
 	int pubsublatency_main();