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synced 2026-06-27 10:30:35 +08:00
Fixed std::isfinite vs isfinite differences
Added PX4_ISFINITE(x) to px4_defines.h to handle the differences on NuttX and Linux. This change also picked up some file renaming for virtual character devices Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
@@ -0,0 +1,461 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file vcdev.cpp
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*
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* Virtual character device base class.
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*/
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#include "px4_posix.h"
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#include "device.h"
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#include "drivers/drv_device.h"
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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namespace device
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{
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int px4_errno;
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struct px4_dev_t {
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char *name;
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void *cdev;
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px4_dev_t(const char *n, void *c) : cdev(c) {
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name = strdup(n);
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}
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~px4_dev_t() { free(name); }
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private:
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px4_dev_t() {}
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};
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#define PX4_MAX_DEV 100
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static px4_dev_t *devmap[PX4_MAX_DEV];
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/*
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* The standard NuttX operation dispatch table can't call C++ member functions
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* directly, so we have to bounce them through this dispatch table.
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*/
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CDev::CDev(const char *name,
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const char *devname) :
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// base class
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Device(name),
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// public
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// protected
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_pub_blocked(false),
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// private
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_devname(devname),
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_registered(false),
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_open_count(0)
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{
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for (unsigned i = 0; i < _max_pollwaiters; i++)
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_pollset[i] = nullptr;
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}
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CDev::~CDev()
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{
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if (_registered)
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unregister_driver(_devname);
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}
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int
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CDev::register_class_devname(const char *class_devname)
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{
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if (class_devname == nullptr) {
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return -EINVAL;
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}
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int class_instance = 0;
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int ret = -ENOSPC;
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while (class_instance < 4) {
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char name[32];
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snprintf(name, sizeof(name), "%s%d", class_devname, class_instance);
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ret = register_driver(name, (void *)this);
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class_instance++;
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}
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if (class_instance == 4) {
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return ret;
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}
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return class_instance;
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}
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int
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CDev::register_driver(const char *name, void *data)
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{
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int ret = -ENOSPC;
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if (name == NULL || data == NULL)
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return -EINVAL;
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// Make sure the device does not already exist
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// FIXME - convert this to a map for efficiency
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for (int i=0;i<PX4_MAX_DEV; ++i) {
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if (devmap[i] && (strcmp(devmap[i]->name,name) == 0)) {
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return -EEXIST;
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}
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}
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for (int i=0;i<PX4_MAX_DEV; ++i) {
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if (devmap[i] == NULL) {
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devmap[i] = new px4_dev_t(name, (void *)data);
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debug("Registered DEV %s", name);
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ret = PX4_OK;
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break;
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}
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}
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return ret;
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}
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int
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CDev::unregister_driver(const char *name)
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{
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int ret = -ENOSPC;
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if (name == NULL)
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return -EINVAL;
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for (int i=0;i<PX4_MAX_DEV; ++i) {
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if (devmap[i] && (strcmp(name, devmap[i]->name) == 0)) {
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delete devmap[i];
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devmap[i] = NULL;
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debug("Unregistered DEV %s", name);
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ret = PX4_OK;
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break;
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}
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}
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return ret;
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}
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int
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CDev::unregister_class_devname(const char *class_devname, unsigned class_instance)
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{
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char name[32];
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snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
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for (int i=0;i<PX4_MAX_DEV; ++i) {
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if (devmap[i] && strcmp(devmap[i]->name,name) == 0) {
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delete devmap[i];
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devmap[i] = NULL;
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return PX4_OK;
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}
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}
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return -EINVAL;
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}
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int
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CDev::init()
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{
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// base class init first
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int ret = Device::init();
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if (ret != PX4_OK)
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goto out;
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// now register the driver
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if (_devname != nullptr) {
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ret = register_driver(_devname, (void *)this);
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if (ret != PX4_OK)
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goto out;
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_registered = true;
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}
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out:
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return ret;
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}
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/*
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* Default implementations of the character device interface
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*/
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int
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CDev::open(px4_dev_handle_t *handlep)
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{
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int ret = PX4_OK;
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debug("CDev::open");
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lock();
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/* increment the open count */
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_open_count++;
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if (_open_count == 1) {
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/* first-open callback may decline the open */
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ret = open_first(handlep);
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if (ret != PX4_OK)
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_open_count--;
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}
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unlock();
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return ret;
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}
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int
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CDev::open_first(px4_dev_handle_t *handlep)
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{
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debug("CDev::open_first");
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return PX4_OK;
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}
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int
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CDev::close(px4_dev_handle_t *handlep)
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{
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debug("CDev::close");
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int ret = PX4_OK;
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lock();
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if (_open_count > 0) {
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/* decrement the open count */
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_open_count--;
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/* callback cannot decline the close */
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if (_open_count == 0)
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ret = close_last(handlep);
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} else {
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ret = -EBADF;
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}
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unlock();
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return ret;
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}
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int
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CDev::close_last(px4_dev_handle_t *handlep)
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{
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debug("CDev::close_last");
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return PX4_OK;
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}
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ssize_t
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CDev::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
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{
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debug("CDev::read");
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return -ENOSYS;
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}
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ssize_t
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CDev::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
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{
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debug("CDev::write");
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return -ENOSYS;
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}
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off_t
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CDev::seek(px4_dev_handle_t *handlep, off_t offset, int whence)
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{
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return -ENOSYS;
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}
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int
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CDev::ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg)
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{
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debug("CDev::ioctl");
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switch (cmd) {
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/* fetch a pointer to the driver's private data */
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case PX4_DIOC_GETPRIV:
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*(void **)(uintptr_t)arg = (void *)this;
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return PX4_OK;
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break;
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case PX4_DEVIOCSPUBBLOCK:
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_pub_blocked = (arg != 0);
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return PX4_OK;
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break;
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case PX4_DEVIOCGPUBBLOCK:
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return _pub_blocked;
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break;
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}
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#if 0
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/* try the superclass. The different ioctl() function form
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* means we need to copy arg */
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unsigned arg2 = arg;
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int ret = Device::ioctl(cmd, arg2);
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if (ret != -ENODEV)
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return ret;
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#endif
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return -ENOTTY;
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}
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int
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CDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
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{
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int ret = PX4_OK;
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debug("CDev::Poll %s", setup ? "setup" : "teardown");
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/*
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* Lock against pollnotify() (and possibly other callers)
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*/
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lock();
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if (setup) {
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/*
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* Save the file pointer in the pollfd for the subclass'
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* benefit.
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*/
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fds->priv = (void *)handlep;
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debug("CDev::poll: fds->priv = %p", handlep);
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/*
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* Handle setup requests.
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*/
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ret = store_poll_waiter(fds);
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if (ret == PX4_OK) {
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/*
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* Check to see whether we should send a poll notification
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* immediately.
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*/
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fds->revents |= fds->events & poll_state(handlep);
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/* yes? post the notification */
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if (fds->revents != 0)
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sem_post(fds->sem);
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}
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} else {
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/*
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* Handle a teardown request.
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*/
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ret = remove_poll_waiter(fds);
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}
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unlock();
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return ret;
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}
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void
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CDev::poll_notify(pollevent_t events)
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{
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debug("CDev::poll_notify events = %0x", events);
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/* lock against poll() as well as other wakeups */
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lock();
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for (unsigned i = 0; i < _max_pollwaiters; i++)
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if (nullptr != _pollset[i])
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poll_notify_one(_pollset[i], events);
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unlock();
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}
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void
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CDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
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{
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debug("CDev::poll_notify_one");
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int value;
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sem_getvalue(fds->sem, &value);
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/* update the reported event set */
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fds->revents |= fds->events & events;
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debug(" Events fds=%p %0x %0x %0x %d",fds, fds->revents, fds->events, events, value);
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/* if the state is now interesting, wake the waiter if it's still asleep */
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/* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */
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if ((fds->revents != 0) && (value <= 0))
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sem_post(fds->sem);
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}
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pollevent_t
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CDev::poll_state(px4_dev_handle_t *handlep)
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{
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debug("CDev::poll_notify");
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/* by default, no poll events to report */
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return 0;
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}
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int
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CDev::store_poll_waiter(px4_pollfd_struct_t *fds)
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{
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/*
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* Look for a free slot.
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*/
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debug("CDev::store_poll_waiter");
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for (unsigned i = 0; i < _max_pollwaiters; i++) {
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if (nullptr == _pollset[i]) {
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/* save the pollfd */
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_pollset[i] = fds;
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return PX4_OK;
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}
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}
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return -ENOMEM;
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}
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int
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CDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
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{
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debug("CDev::remove_poll_waiter");
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for (unsigned i = 0; i < _max_pollwaiters; i++) {
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if (fds == _pollset[i]) {
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_pollset[i] = nullptr;
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return PX4_OK;
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}
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}
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puts("poll: bad fd state");
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return -EINVAL;
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}
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CDev *CDev::getDev(const char *path)
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{
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int i=0;
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for (; i<PX4_MAX_DEV; ++i) {
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if (devmap[i] && (strcmp(devmap[i]->name, path) == 0)) {
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return (CDev *)(devmap[i]->cdev);
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}
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}
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return NULL;
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}
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} // namespace device
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Block a user