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Platforms: Fix platform headers

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This commit is contained in:
Lorenz Meier
2015-10-19 13:25:39 +02:00
parent 2c8e853294
commit 73545a4311
13 changed files with 168 additions and 172 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/px4_adc.h
+5 -6
View File
@@ -52,13 +52,12 @@
// FIXME - this needs to be a px4_adc_msg_s type // FIXME - this needs to be a px4_adc_msg_s type
// Curently copied from NuttX // Curently copied from NuttX
struct adc_msg_s struct adc_msg_s {
{ uint8_t am_channel; /* The 8-bit ADC Channel */
uint8_t am_channel; /* The 8-bit ADC Channel */ int32_t am_data; /* ADC convert result (4 bytes) */
int32_t am_data; /* ADC convert result (4 bytes) */ } __attribute__((packed));
} __attribute__ ((packed));
// Example settings // Example settings
#define ADC_BATTERY_VOLTAGE_CHANNEL 10 #define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1)) #define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11 #define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
src/platforms/px4_app.h
+6 -4
View File
@@ -40,9 +40,11 @@
#pragma once #pragma once
namespace px4 { namespace px4
{
class AppState { class AppState
{
public: public:
~AppState() {} ~AppState() {}
@@ -65,8 +67,8 @@ protected:
bool _isRunning; bool _isRunning;
#endif #endif
private: private:
AppState(const AppState&); AppState(const AppState &);
const AppState& operator=(const AppState&); const AppState &operator=(const AppState &);
}; };
} }
src/platforms/px4_defines.h
+8 -8
View File
@@ -92,7 +92,7 @@ typedef param_t px4_param_t;
*/ */
#if defined(__PX4_NUTTX) #if defined(__PX4_NUTTX)
#define PX4_ROOTFSDIR #define PX4_ROOTFSDIR
/* XXX this is a hack to resolve conflicts with NuttX headers */ /* XXX this is a hack to resolve conflicts with NuttX headers */
#if !defined(__PX4_TESTS) #if !defined(__PX4_TESTS)
@@ -119,7 +119,7 @@ typedef param_t px4_param_t;
#define PRId64 "lld" #define PRId64 "lld"
#endif #endif
/* /*
* POSIX Specific defines * POSIX Specific defines
*/ */
#elif defined(__PX4_POSIX) #elif defined(__PX4_POSIX)
@@ -138,7 +138,7 @@ typedef param_t px4_param_t;
/* FIXME - Used to satisfy build */ /* FIXME - Used to satisfy build */
//STM DocID018909 Rev 8 Sect 39.1 (Unique device ID Register) //STM DocID018909 Rev 8 Sect 39.1 (Unique device ID Register)
#define UNIQUE_ID 0x1FFF7A10 #define UNIQUE_ID 0x1FFF7A10
#define STM32_SYSMEM_UID "SIMULATIONID" #define STM32_SYSMEM_UID "SIMULATIONID"
/* FIXME - Used to satisfy build */ /* FIXME - Used to satisfy build */
@@ -153,12 +153,12 @@ __END_DECLS
#endif #endif
#define USEC_PER_TICK (1000000UL/PX4_TICKS_PER_SEC) #define USEC_PER_TICK (1000000UL/PX4_TICKS_PER_SEC)
#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK) #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
#define px4_statfs_buf_f_bavail_t unsigned long #define px4_statfs_buf_f_bavail_t unsigned long
#if defined(__PX4_QURT) #if defined(__PX4_QURT)
#define PX4_ROOTFSDIR #define PX4_ROOTFSDIR
#else #else
#define PX4_ROOTFSDIR "rootfs" #define PX4_ROOTFSDIR "rootfs"
#endif #endif
@@ -166,7 +166,7 @@ __END_DECLS
#endif #endif
/* /*
* Defines for ROS and Linux * Defines for ROS and Linux
*/ */
#if defined(__PX4_ROS) || defined(__PX4_POSIX) #if defined(__PX4_ROS) || defined(__PX4_POSIX)
@@ -226,7 +226,7 @@ __END_DECLS
#if defined(__PX4_QURT) #if defined(__PX4_QURT)
#define PX4_ROOTFSDIR #define PX4_ROOTFSDIR
#define DEFAULT_PARAM_FILE "/fs/eeprom/parameters" #define DEFAULT_PARAM_FILE "/fs/eeprom/parameters"
#define SIOCDEVPRIVATE 999999 #define SIOCDEVPRIVATE 999999
@@ -244,7 +244,7 @@ __END_DECLS
#endif #endif
/* /*
*Defines for all platforms *Defines for all platforms
*/ */
src/platforms/px4_i2c.h
+8 -9
View File
@@ -75,23 +75,23 @@ typedef struct i2c_dev_s px4_i2c_dev_t;
// NOTE - This is a copy of the NuttX i2c_msg_s structure // NOTE - This is a copy of the NuttX i2c_msg_s structure
typedef struct { typedef struct {
uint16_t addr; /* Slave address */ uint16_t addr; /* Slave address */
uint16_t flags; /* See I2C_M_* definitions */ uint16_t flags; /* See I2C_M_* definitions */
uint8_t *buffer; uint8_t *buffer;
int length; int length;
} px4_i2c_msg_t; } px4_i2c_msg_t;
// NOTE - This is a copy of the NuttX i2c_ops_s structure // NOTE - This is a copy of the NuttX i2c_ops_s structure
typedef struct { typedef struct {
const struct px4_i2c_ops_t *ops; /* I2C vtable */ const struct px4_i2c_ops_t *ops; /* I2C vtable */
} px4_i2c_dev_t; } px4_i2c_dev_t;
// FIXME - Empty defines for I2C ops // FIXME - Empty defines for I2C ops
// Original version commented out // Original version commented out
//#define I2C_SETFREQUENCY(d,f) ((d)->ops->setfrequency(d,f)) //#define I2C_SETFREQUENCY(d,f) ((d)->ops->setfrequency(d,f))
#define I2C_SETFREQUENCY(d,f) #define I2C_SETFREQUENCY(d,f)
//#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s)) //#define SPI_SELECT(d,id,s) ((d)->ops->select(d,id,s))
#define SPI_SELECT(d,id,s) #define SPI_SELECT(d,id,s)
// FIXME - Stub implementation // FIXME - Stub implementation
// Original version commented out // Original version commented out
@@ -101,8 +101,7 @@ inline int I2C_TRANSFER(px4_i2c_dev_t *dev, px4_i2c_msg_t *msg, int count) { ret
#ifdef __PX4_QURT #ifdef __PX4_QURT
struct i2c_msg struct i2c_msg {
{
uint16_t addr; /* Slave address */ uint16_t addr; /* Slave address */
uint16_t flags; /* See I2C_M_* definitions */ uint16_t flags; /* See I2C_M_* definitions */
uint8_t *buf; uint8_t *buf;
src/platforms/px4_log.h
+70 -70
View File
@@ -178,11 +178,11 @@ __END_DECLS
****************************************************************************/ ****************************************************************************/
#define __px4_log_named_cond(name, cond, FMT, ...) \ #define __px4_log_named_cond(name, cond, FMT, ...) \
__px4__log_printcond(cond,\ __px4__log_printcond(cond,\
"%s " \ "%s " \
FMT\ FMT\
__px4__log_end_fmt \ __px4__log_end_fmt \
,name, ##__VA_ARGS__\ ,name, ##__VA_ARGS__\
) )
/**************************************************************************** /****************************************************************************
* __px4_log: * __px4_log:
@@ -193,11 +193,11 @@ __END_DECLS
****************************************************************************/ ****************************************************************************/
#define __px4_log(level, FMT, ...) \ #define __px4_log(level, FMT, ...) \
__px4__log_printline(level,\ __px4__log_printline(level,\
__px4__log_level_fmt \ __px4__log_level_fmt \
FMT\ FMT\
__px4__log_end_fmt \ __px4__log_end_fmt \
__px4__log_level_arg(level), ##__VA_ARGS__\ __px4__log_level_arg(level), ##__VA_ARGS__\
) )
/**************************************************************************** /****************************************************************************
* __px4_log_timestamp: * __px4_log_timestamp:
@@ -209,14 +209,14 @@ __END_DECLS
****************************************************************************/ ****************************************************************************/
#define __px4_log_timestamp(level, FMT, ...) \ #define __px4_log_timestamp(level, FMT, ...) \
__px4__log_printline(level,\ __px4__log_printline(level,\
__px4__log_level_fmt\ __px4__log_level_fmt\
__px4__log_timestamp_fmt\ __px4__log_timestamp_fmt\
FMT\ FMT\
__px4__log_end_fmt\ __px4__log_end_fmt\
__px4__log_level_arg(level)\ __px4__log_level_arg(level)\
__px4__log_timestamp_arg\ __px4__log_timestamp_arg\
, ##__VA_ARGS__\ , ##__VA_ARGS__\
) )
/**************************************************************************** /****************************************************************************
* __px4_log_timestamp_thread: * __px4_log_timestamp_thread:
@@ -228,16 +228,16 @@ __END_DECLS
****************************************************************************/ ****************************************************************************/
#define __px4_log_timestamp_thread(level, FMT, ...) \ #define __px4_log_timestamp_thread(level, FMT, ...) \
__px4__log_printline(level,\ __px4__log_printline(level,\
__px4__log_level_fmt\ __px4__log_level_fmt\
__px4__log_timestamp_fmt\ __px4__log_timestamp_fmt\
__px4__log_thread_fmt\ __px4__log_thread_fmt\
FMT\ FMT\
__px4__log_end_fmt\ __px4__log_end_fmt\
__px4__log_level_arg(level)\ __px4__log_level_arg(level)\
__px4__log_timestamp_arg\ __px4__log_timestamp_arg\
__px4__log_thread_arg\ __px4__log_thread_arg\
, ##__VA_ARGS__\ , ##__VA_ARGS__\
) )
/**************************************************************************** /****************************************************************************
* __px4_log_file_and_line: * __px4_log_file_and_line:
@@ -249,16 +249,16 @@ __END_DECLS
****************************************************************************/ ****************************************************************************/
#define __px4_log_file_and_line(level, FMT, ...) \ #define __px4_log_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\ __px4__log_printline(level,\
__px4__log_level_fmt\ __px4__log_level_fmt\
__px4__log_timestamp_fmt\ __px4__log_timestamp_fmt\
FMT\ FMT\
__px4__log_file_and_line_fmt\ __px4__log_file_and_line_fmt\
__px4__log_end_fmt\ __px4__log_end_fmt\
__px4__log_level_arg(level)\ __px4__log_level_arg(level)\
__px4__log_timestamp_arg\ __px4__log_timestamp_arg\
, ##__VA_ARGS__\ , ##__VA_ARGS__\
__px4__log_file_and_line_arg\ __px4__log_file_and_line_arg\
) )
/**************************************************************************** /****************************************************************************
* __px4_log_timestamp_file_and_line: * __px4_log_timestamp_file_and_line:
@@ -271,16 +271,16 @@ __END_DECLS
****************************************************************************/ ****************************************************************************/
#define __px4_log_timestamp_file_and_line(level, FMT, ...) \ #define __px4_log_timestamp_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\ __px4__log_printline(level,\
__px4__log_level_fmt\ __px4__log_level_fmt\
__px4__log_timestamp_fmt\ __px4__log_timestamp_fmt\
FMT\ FMT\
__px4__log_file_and_line_fmt\ __px4__log_file_and_line_fmt\
__px4__log_end_fmt\ __px4__log_end_fmt\
__px4__log_level_arg(level)\ __px4__log_level_arg(level)\
__px4__log_timestamp_arg\ __px4__log_timestamp_arg\
, ##__VA_ARGS__\ , ##__VA_ARGS__\
__px4__log_file_and_line_arg\ __px4__log_file_and_line_arg\
) )
/**************************************************************************** /****************************************************************************
* __px4_log_thread_file_and_line: * __px4_log_thread_file_and_line:
@@ -293,16 +293,16 @@ __END_DECLS
****************************************************************************/ ****************************************************************************/
#define __px4_log_thread_file_and_line(level, FMT, ...) \ #define __px4_log_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\ __px4__log_printline(level,\
__px4__log_level_fmt\ __px4__log_level_fmt\
__px4__log_thread_fmt\ __px4__log_thread_fmt\
FMT\ FMT\
__px4__log_file_and_line_fmt\ __px4__log_file_and_line_fmt\
__px4__log_end_fmt\ __px4__log_end_fmt\
__px4__log_level_arg(level)\ __px4__log_level_arg(level)\
__px4__log_thread_arg\ __px4__log_thread_arg\
, ##__VA_ARGS__\ , ##__VA_ARGS__\
__px4__log_file_and_line_arg\ __px4__log_file_and_line_arg\
) )
/**************************************************************************** /****************************************************************************
* __px4_log_timestamp_thread_file_and_line: * __px4_log_timestamp_thread_file_and_line:
@@ -315,18 +315,18 @@ __END_DECLS
****************************************************************************/ ****************************************************************************/
#define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \ #define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\ __px4__log_printline(level,\
__px4__log_level_fmt\ __px4__log_level_fmt\
__px4__log_timestamp_fmt\ __px4__log_timestamp_fmt\
__px4__log_thread_fmt\ __px4__log_thread_fmt\
FMT\ FMT\
__px4__log_file_and_line_fmt\ __px4__log_file_and_line_fmt\
__px4__log_end_fmt\ __px4__log_end_fmt\
__px4__log_level_arg(level)\ __px4__log_level_arg(level)\
__px4__log_timestamp_arg\ __px4__log_timestamp_arg\
__px4__log_thread_arg\ __px4__log_thread_arg\
, ##__VA_ARGS__\ , ##__VA_ARGS__\
__px4__log_file_and_line_arg\ __px4__log_file_and_line_arg\
) )
/**************************************************************************** /****************************************************************************
src/platforms/px4_nodehandle.h
+8 -8
View File
@@ -86,7 +86,7 @@ public:
template<typename T> template<typename T>
Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval) Subscriber<T> *subscribe(void(*fp)(const T &), unsigned interval)
{ {
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, std::placeholders::_1)); SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle *)this, std::bind(fp, std::placeholders::_1));
_subs.push_back(sub); _subs.push_back(sub);
return (Subscriber<T> *)sub; return (Subscriber<T> *)sub;
} }
@@ -99,7 +99,7 @@ public:
template<typename T, typename C> template<typename T, typename C>
Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval) Subscriber<T> *subscribe(void(C::*fp)(const T &), C *obj, unsigned interval)
{ {
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this, std::bind(fp, obj, std::placeholders::_1)); SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle *)this, std::bind(fp, obj, std::placeholders::_1));
_subs.push_back(sub); _subs.push_back(sub);
return (Subscriber<T> *)sub; return (Subscriber<T> *)sub;
} }
@@ -110,7 +110,7 @@ public:
template<typename T> template<typename T>
Subscriber<T> *subscribe(unsigned interval) Subscriber<T> *subscribe(unsigned interval)
{ {
SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle*)this); SubscriberBase *sub = new SubscriberROS<T>((ros::NodeHandle *)this);
_subs.push_back(sub); _subs.push_back(sub);
return (Subscriber<T> *)sub; return (Subscriber<T> *)sub;
} }
@@ -119,11 +119,11 @@ public:
* Advertise topic * Advertise topic
*/ */
template<typename T> template<typename T>
Publisher<T>* advertise() Publisher<T> *advertise()
{ {
PublisherROS<T> *pub = new PublisherROS<T>((ros::NodeHandle*)this); PublisherROS<T> *pub = new PublisherROS<T>((ros::NodeHandle *)this);
_pubs.push_back((PublisherBase*)pub); _pubs.push_back((PublisherBase *)pub);
return (Publisher<T>*)pub; return (Publisher<T> *)pub;
} }
/** /**
@@ -242,7 +242,7 @@ public:
{ {
PublisherUORB<T> *pub = new PublisherUORB<T>(); PublisherUORB<T> *pub = new PublisherUORB<T>();
_pubs.add(pub); _pubs.add(pub);
return (Publisher<T>*)pub; return (Publisher<T> *)pub;
} }
/** /**
src/platforms/px4_posix.h
+11 -12
View File
@@ -54,8 +54,7 @@
__BEGIN_DECLS __BEGIN_DECLS
typedef struct typedef struct {
{
pthread_mutex_t lock; pthread_mutex_t lock;
pthread_cond_t wait; pthread_cond_t wait;
int value; int value;
@@ -97,7 +96,7 @@ typedef struct pollfd px4_pollfd_struct_t;
#if defined(__cplusplus) #if defined(__cplusplus)
#define _GLOBAL :: #define _GLOBAL ::
#else #else
#define _GLOBAL #define _GLOBAL
#endif #endif
#define px4_open _GLOBAL open #define px4_open _GLOBAL open
#define px4_close _GLOBAL close #define px4_close _GLOBAL close
@@ -118,14 +117,14 @@ typedef struct pollfd px4_pollfd_struct_t;
typedef short pollevent_t; typedef short pollevent_t;
typedef struct { typedef struct {
/* This part of the struct is POSIX-like */ /* This part of the struct is POSIX-like */
int fd; /* The descriptor being polled */ int fd; /* The descriptor being polled */
pollevent_t events; /* The input event flags */ pollevent_t events; /* The input event flags */
pollevent_t revents; /* The output event flags */ pollevent_t revents; /* The output event flags */
/* Required for PX4 compatability */ /* Required for PX4 compatability */
px4_sem_t *sem; /* Pointer to semaphore used to post output event */ px4_sem_t *sem; /* Pointer to semaphore used to post output event */
void *priv; /* For use by drivers */ void *priv; /* For use by drivers */
} px4_pollfd_struct_t; } px4_pollfd_struct_t;
__BEGIN_DECLS __BEGIN_DECLS
@@ -150,8 +149,8 @@ extern int px4_errno;
__EXPORT void px4_show_devices(void); __EXPORT void px4_show_devices(void);
__EXPORT void px4_show_files(void); __EXPORT void px4_show_files(void);
__EXPORT const char * px4_get_device_names(unsigned int *handle); __EXPORT const char *px4_get_device_names(unsigned int *handle);
__EXPORT void px4_show_topics(void); __EXPORT void px4_show_topics(void);
__EXPORT const char * px4_get_topic_names(unsigned int *handle); __EXPORT const char *px4_get_topic_names(unsigned int *handle);
__END_DECLS __END_DECLS
src/platforms/px4_publisher.h
+6 -4
View File
@@ -86,7 +86,8 @@ public:
*/ */
PublisherROS(ros::NodeHandle *rnh) : PublisherROS(ros::NodeHandle *rnh) :
Publisher<T>(), Publisher<T>(),
_ros_pub(rnh->advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault)) _ros_pub(rnh->advertise < typename std::remove_reference < decltype(((T *)nullptr)->data()) >::type & > (T::handle(),
kQueueSizeDefault))
{} {}
~PublisherROS() {}; ~PublisherROS() {};
@@ -136,7 +137,8 @@ public:
_uorb_pub(new uORB::PublicationBase(T::handle())) _uorb_pub(new uORB::PublicationBase(T::handle()))
{} {}
~PublisherUORB() { ~PublisherUORB()
{
delete _uorb_pub; delete _uorb_pub;
}; };
@@ -145,7 +147,7 @@ public:
*/ */
int publish(const T &msg) int publish(const T &msg)
{ {
_uorb_pub->update((void *)&(msg.data())); _uorb_pub->update((void *) & (msg.data()));
return 0; return 0;
} }
@@ -154,7 +156,7 @@ public:
*/ */
void update() {} ; void update() {} ;
private: private:
uORB::PublicationBase * _uorb_pub; /**< Handle to the publisher */ uORB::PublicationBase *_uorb_pub; /**< Handle to the publisher */
}; };
#endif #endif
src/platforms/px4_spi.h
+18 -21
View File
@@ -3,32 +3,29 @@
#ifdef __PX4_NUTTX #ifdef __PX4_NUTTX
#include <nuttx/spi.h> #include <nuttx/spi.h>
#elif defined(__PX4_POSIX) #elif defined(__PX4_POSIX)
enum spi_dev_e enum spi_dev_e {
{ SPIDEV_NONE = 0, /* Not a valid value */
SPIDEV_NONE = 0, /* Not a valid value */ SPIDEV_MMCSD, /* Select SPI MMC/SD device */
SPIDEV_MMCSD, /* Select SPI MMC/SD device */ SPIDEV_FLASH, /* Select SPI FLASH device */
SPIDEV_FLASH, /* Select SPI FLASH device */ SPIDEV_ETHERNET, /* Select SPI ethernet device */
SPIDEV_ETHERNET, /* Select SPI ethernet device */ SPIDEV_DISPLAY, /* Select SPI LCD/OLED display device */
SPIDEV_DISPLAY, /* Select SPI LCD/OLED display device */ SPIDEV_WIRELESS, /* Select SPI Wireless device */
SPIDEV_WIRELESS, /* Select SPI Wireless device */ SPIDEV_TOUCHSCREEN, /* Select SPI touchscreen device */
SPIDEV_TOUCHSCREEN, /* Select SPI touchscreen device */ SPIDEV_EXPANDER, /* Select SPI I/O expander device */
SPIDEV_EXPANDER, /* Select SPI I/O expander device */ SPIDEV_MUX, /* Select SPI multiplexer device */
SPIDEV_MUX, /* Select SPI multiplexer device */ SPIDEV_AUDIO_DATA, /* Select SPI audio codec device data port */
SPIDEV_AUDIO_DATA, /* Select SPI audio codec device data port */ SPIDEV_AUDIO_CTRL, /* Select SPI audio codec device control port */
SPIDEV_AUDIO_CTRL, /* Select SPI audio codec device control port */
}; };
/* Certain SPI devices may required differnt clocking modes */ /* Certain SPI devices may required differnt clocking modes */
enum spi_mode_e enum spi_mode_e {
{ SPIDEV_MODE0 = 0, /* CPOL=0 CHPHA=0 */
SPIDEV_MODE0 = 0, /* CPOL=0 CHPHA=0 */ SPIDEV_MODE1, /* CPOL=0 CHPHA=1 */
SPIDEV_MODE1, /* CPOL=0 CHPHA=1 */ SPIDEV_MODE2, /* CPOL=1 CHPHA=0 */
SPIDEV_MODE2, /* CPOL=1 CHPHA=0 */ SPIDEV_MODE3 /* CPOL=1 CHPHA=1 */
SPIDEV_MODE3 /* CPOL=1 CHPHA=1 */
}; };
struct spi_dev_s struct spi_dev_s {
{
int unused; int unused;
}; };
#else #else
src/platforms/px4_subscriber.h
+11 -10
View File
@@ -86,12 +86,12 @@ public:
/** /**
* Get the last message value * Get the last message value
*/ */
virtual T& get() {return _msg_current;} virtual T &get() {return _msg_current;}
/** /**
* Get the last native message value * Get the last native message value
*/ */
virtual decltype(((T*)nullptr)->data()) data() virtual decltype(((T *)nullptr)->data()) data()
{ {
return _msg_current.data(); return _msg_current.data();
} }
@@ -135,7 +135,7 @@ protected:
* Called on topic update, saves the current message and then calls the provided callback function * Called on topic update, saves the current message and then calls the provided callback function
* needs to use the native type as it is called by ROS * needs to use the native type as it is called by ROS
*/ */
void callback(const typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &msg) void callback(const typename std::remove_reference < decltype(((T *)nullptr)->data()) >::type &msg)
{ {
/* Store data */ /* Store data */
this->_msg_current.data() = msg; this->_msg_current.data() = msg;
@@ -197,7 +197,8 @@ public:
_uorb_sub(new uORB::SubscriptionBase(T::handle(), interval)) _uorb_sub(new uORB::SubscriptionBase(T::handle(), interval))
{} {}
virtual ~SubscriberUORB() { virtual ~SubscriberUORB()
{
delete _uorb_sub; delete _uorb_sub;
}; };
@@ -219,19 +220,19 @@ public:
int getUORBHandle() { return _uorb_sub->getHandle(); } int getUORBHandle() { return _uorb_sub->getHandle(); }
protected: protected:
uORB::SubscriptionBase * _uorb_sub; /**< Handle to the subscription */ uORB::SubscriptionBase *_uorb_sub; /**< Handle to the subscription */
#ifndef CONFIG_ARCH_BOARD_SIM #ifndef CONFIG_ARCH_BOARD_SIM
typename std::remove_reference<decltype(((T*)nullptr)->data())>::type getUORBData() typename std::remove_reference < decltype(((T *)nullptr)->data()) >::type getUORBData()
{ {
return (typename std::remove_reference<decltype(((T*)nullptr)->data())>::type)*_uorb_sub; return (typename std::remove_reference < decltype(((T *)nullptr)->data()) >::type) * _uorb_sub;
} }
#endif #endif
/** /**
* Get void pointer to last message value * Get void pointer to last message value
*/ */
void *get_void_ptr() { return (void *)&(this->_msg_current.data()); } void *get_void_ptr() { return (void *) & (this->_msg_current.data()); }
}; };
@@ -248,9 +249,9 @@ public:
*/ */
SubscriberUORBCallback(unsigned interval SubscriberUORBCallback(unsigned interval
#ifndef CONFIG_ARCH_BOARD_SIM #ifndef CONFIG_ARCH_BOARD_SIM
,std::function<void(const T &)> cbf) , std::function<void(const T &)> cbf)
#else #else
) )
#endif #endif
: :
SubscriberUORB<T>(interval), SubscriberUORB<T>(interval),
src/platforms/px4_tasks.h
+5 -5
View File
@@ -105,11 +105,11 @@ __EXPORT void px4_systemreset(bool to_bootloader) noreturn_function;
/** Starts a task and performs any specific accounting, scheduler setup, etc. */ /** Starts a task and performs any specific accounting, scheduler setup, etc. */
__EXPORT px4_task_t px4_task_spawn_cmd(const char *name, __EXPORT px4_task_t px4_task_spawn_cmd(const char *name,
int priority, int priority,
int scheduler, int scheduler,
int stack_size, int stack_size,
px4_main_t entry, px4_main_t entry,
char * const argv[]); char *const argv[]);
/** Deletes a task - does not do resource cleanup **/ /** Deletes a task - does not do resource cleanup **/
__EXPORT int px4_task_delete(px4_task_t pid); __EXPORT int px4_task_delete(px4_task_t pid);
src/platforms/px4_time.h
+1 -2
View File
@@ -30,8 +30,7 @@ __BEGIN_DECLS
#if 0 #if 0
#if !defined(__cplusplus) #if !defined(__cplusplus)
struct timespec struct timespec {
{
time_t tv_sec; time_t tv_sec;
long tv_nsec; long tv_nsec;
}; };
src/platforms/px4_workqueue.h
+11 -13
View File
@@ -48,7 +48,7 @@
#include <px4_platform_types.h> #include <px4_platform_types.h>
#ifdef __PX4_QURT #ifdef __PX4_QURT
#include <dspal_types.h> #include <dspal_types.h>
#endif #endif
__BEGIN_DECLS __BEGIN_DECLS
@@ -57,10 +57,9 @@ __BEGIN_DECLS
#define LPWORK 1 #define LPWORK 1
#define NWORKERS 2 #define NWORKERS 2
struct wqueue_s struct wqueue_s {
{ pid_t pid; /* The task ID of the worker thread */
pid_t pid; /* The task ID of the worker thread */ struct dq_queue_s q; /* The queue of pending work */
struct dq_queue_s q; /* The queue of pending work */
}; };
extern struct wqueue_s g_work[NWORKERS]; extern struct wqueue_s g_work[NWORKERS];
@@ -69,13 +68,12 @@ extern struct wqueue_s g_work[NWORKERS];
typedef void (*worker_t)(void *arg); typedef void (*worker_t)(void *arg);
struct work_s struct work_s {
{ struct dq_entry_s dq; /* Implements a doubly linked list */
struct dq_entry_s dq; /* Implements a doubly linked list */ worker_t worker; /* Work callback */
worker_t worker; /* Work callback */ void *arg; /* Callback argument */
void *arg; /* Callback argument */ uint64_t qtime; /* Time work queued */
uint64_t qtime; /* Time work queued */ uint32_t delay; /* Delay until work performed */
uint32_t delay; /* Delay until work performed */
}; };
/**************************************************************************** /****************************************************************************
@@ -144,6 +142,6 @@ int work_lpthread(int argc, char *argv[]);
__END_DECLS __END_DECLS
#else #else
#error "Unknown target OS" #error "Unknown target OS"
#endif #endif