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Clean up of app.h

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app.h, generated from app.h_in, has unnecessary code duplication
and isn't a header file (it defines globals, static functions
and doesn't have a header guard, moreover, it has a 'using namespace
std;'). Because of this, a real headerfile that declares the stuff
defined in apps.h was missing leading to even more code duplication:
scattered forward declarations in .cpp files and an often repeated
type of std::map<std::string, px4_main_t>.

This patch moves cmake/qurt/apps.h_in to src/platforms/apps.cpp.in
(with some changes) and removes cmake/posix/apps.h_in.
Then src/platforms/apps.cpp.in is split into src/platforms/apps.cpp.in
and src/platforms/apps.h.in, splitting declarations from definitions.

A typedef is defined for the map (apps_map_type).

The main difference between cmake/posix/apps.h_in and
cmake/qurt/apps.h_in was that the first defined a global 'apps',
while qurt stores the apps in QShell. I opted to get rid of
the global variable (which are in general evil for various reasons)
and used the API of cmake/qurt/apps.h_in where a provided 'apps'
map is initialized with a call to init_app_map. Thus removing
the existing code duplication.
This commit is contained in:
Carlo Wood
2016-10-22 08:31:14 +02:00
committed by Julian Oes
parent c200ef88ed
commit 6fc30c76a6
12 changed files with 143 additions and 209 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/qurt/px4_layer/main.cpp
+4 -6
View File
@@ -55,8 +55,6 @@
using namespace std;
extern void init_app_map(map<string, px4_main_t> &apps);
extern void list_builtins(map<string, px4_main_t> &apps);
static px4_task_t g_dspal_task = -1;
__BEGIN_DECLS
@@ -70,13 +68,13 @@ void qurt_external_hook(void)
{
}
static void run_cmd(map<string, px4_main_t> &apps, const vector<string> &appargs)
static void run_cmd(apps_map_type &apps, const vector<string> &appargs)
{
// command is appargs[0]
string command = appargs[0];
//replaces app.find with iterator code to avoid null pointer exception
for (map<string, px4_main_t>::iterator it = apps.begin(); it != apps.end(); ++it)
for (apps_map_type::iterator it = apps.begin(); it != apps.end(); ++it)
if (it->first == command) {
// one for command name, one for null terminator
const char *arg[MAX_ARGS + 2];
@@ -117,7 +115,7 @@ void eat_whitespace(const char *&b, int &i)
i = 0;
}
static void process_commands(map<string, px4_main_t> &apps, const char *cmds)
static void process_commands(apps_map_type &apps, const char *cmds)
{
vector<string> appargs;
int i = 0;
@@ -220,7 +218,7 @@ const char *get_commands()
int dspal_entry(int argc, char *argv[])
{
PX4_INFO("In dspal_entry");
map<string, px4_main_t> apps;
apps_map_type apps;
init_app_map(apps);
DriverFramework::Framework::initialize();
px4::init_once();