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uORB: fix static orb_exists call for protected build

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- unify ORBSet to maximum code coverage
This commit is contained in:
Daniel Agar
2022-09-24 13:28:39 -04:00
parent 2717137982
commit 462d0af384
3 changed files with 44 additions and 31 deletions
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platforms/common/uORB/uORBManager.cpp
+17 -9
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@@ -120,7 +120,12 @@ int uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)
orbiocdevexists_t *data = (orbiocdevexists_t *)arg;
if (data->check_advertised) {
data->ret = uORB::Manager::orb_exists(get_orb_meta(data->orb_id), data->instance);
if (uORB::Manager::get_instance()) {
data->ret = uORB::Manager::get_instance()->orb_exists(get_orb_meta(data->orb_id), data->instance);
} else {
data->ret = PX4_ERROR;
}
} else {
data->ret = uORB::Manager::orb_device_node_exists(data->orb_id, data->instance) ? PX4_OK : PX4_ERROR;
@@ -130,7 +135,7 @@ int uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)
case ORBIOCDEVADVERTISE: {
orbiocdevadvertise_t *data = (orbiocdevadvertise_t *)arg;
uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();
uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();
if (dev) {
data->ret = dev->advertise(data->meta, data->is_advertiser, data->instance);
@@ -230,6 +235,10 @@ int uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)
int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
{
if (meta == nullptr) {
return PX4_ERROR;
}
int ret = PX4_ERROR;
// instance valid range: [0, ORB_MULTI_MAX_INSTANCES)
@@ -237,7 +246,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
return ret;
}
uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();
uORB::DeviceMaster *dev = uORB::Manager::get_instance()->get_device_master();
if (dev) {
uORB::DeviceNode *node = dev->getDeviceNode(meta, instance);
@@ -266,8 +275,10 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
ret = px4_access(path, F_OK);
if (ret == -1 && meta != nullptr && !_remote_topics.empty()) {
ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : PX4_ERROR;
if (ret == -1) {
if (_remote_topics.find(meta->o_name)) {
ret = 0;
}
}
if (ret == 0) {
@@ -709,12 +720,9 @@ int16_t uORB::Manager::process_received_message(const char *messageName, int32_t
bool uORB::Manager::is_remote_subscriber_present(const char *messageName)
{
#ifdef __PX4_NUTTX
return _remote_subscriber_topics.find(messageName);
#else
return (_remote_subscriber_topics.find(messageName) != _remote_subscriber_topics.end());
#endif
}
#endif /* ORB_COMMUNICATOR */
#ifdef ORB_USE_PUBLISHER_RULES