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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 +1,273 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 Mark Charlebois. 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_posix.cpp
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*
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* POSIX-like API for virtual character device
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*/
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#include "px4_posix.h"
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#include "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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#include <pthread.h>
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#include <unistd.h>
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using namespace device;
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extern "C" {
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struct timerData {
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sem_t &sem;
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struct timespec &ts;
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timerData(sem_t &s, struct timespec &t) : sem(s), ts(t) {}
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~timerData() {}
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};
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static void *timer_handler(void *data)
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{
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struct timerData *td = (struct timerData *)data;
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if (td->ts.tv_sec) {
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sleep(td->ts.tv_sec);
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}
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usleep(td->ts.tv_nsec/1000);
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sem_post(&(td->sem));
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PX4_DEBUG("timer_handler: Timer expired\n");
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return 0;
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}
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#define PX4_MAX_FD 100
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static px4_dev_handle_t *filemap[PX4_MAX_FD] = {};
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int px4_errno;
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inline bool valid_fd(int fd)
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{
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return (fd < PX4_MAX_FD && fd >= 0 && filemap[fd] != NULL);
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}
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int px4_open(const char *path, int flags)
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{
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CDev *dev = CDev::getDev(path);
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int ret = 0;
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int i;
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if (!dev) {
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ret = -EINVAL;
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}
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else {
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for (i=0; i<PX4_MAX_FD; ++i) {
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if (filemap[i] == 0) {
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filemap[i] = new px4_dev_handle_t(flags,dev,i);
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break;
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}
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}
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if (i < PX4_MAX_FD) {
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ret = dev->open(filemap[i]);
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}
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else {
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ret = -ENOENT;
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}
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}
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if (ret < 0) {
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px4_errno = -ret;
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return -1;
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}
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PX4_DEBUG("px4_open fd = %d", filemap[i]->fd);
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return filemap[i]->fd;
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}
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int px4_close(int fd)
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{
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int ret;
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if (valid_fd(fd)) {
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CDev *dev = (CDev *)(filemap[fd]->cdev);
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PX4_DEBUG("px4_close fd = %d\n", fd);
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ret = dev->close(filemap[fd]);
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filemap[fd] = NULL;
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}
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else {
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ret = -EINVAL;
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}
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if (ret < 0) {
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px4_errno = -ret;
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}
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return ret;
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}
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ssize_t px4_read(int fd, void *buffer, size_t buflen)
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{
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int ret;
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if (valid_fd(fd)) {
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CDev *dev = (CDev *)(filemap[fd]->cdev);
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PX4_DEBUG("px4_read fd = %d\n", fd);
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ret = dev->read(filemap[fd], (char *)buffer, buflen);
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}
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else {
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ret = -EINVAL;
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}
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if (ret < 0) {
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px4_errno = -ret;
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}
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return ret;
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}
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ssize_t px4_write(int fd, const void *buffer, size_t buflen)
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{
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int ret = PX4_ERROR;
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if (valid_fd(fd)) {
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CDev *dev = (CDev *)(filemap[fd]->cdev);
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PX4_DEBUG("px4_write fd = %d\n", fd);
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ret = dev->write(filemap[fd], (const char *)buffer, buflen);
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}
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else {
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ret = -EINVAL;
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}
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if (ret < 0) {
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px4_errno = -ret;
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}
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return ret;
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}
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int px4_ioctl(int fd, int cmd, unsigned long arg)
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{
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int ret = PX4_ERROR;
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if (valid_fd(fd)) {
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CDev *dev = (CDev *)(filemap[fd]->cdev);
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PX4_DEBUG("px4_ioctl fd = %d\n", fd);
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ret = dev->ioctl(filemap[fd], cmd, arg);
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}
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else {
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ret = -EINVAL;
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}
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if (ret < 0) {
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px4_errno = -ret;
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}
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else {
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px4_errno = -EINVAL;
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}
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return ret;
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}
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int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
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{
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sem_t sem;
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int count = 0;
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int ret;
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unsigned int i;
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struct timespec ts;
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PX4_DEBUG("Called px4_poll timeout = %d\n", timeout);
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sem_init(&sem, 0, 0);
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// For each fd
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for (i=0; i<nfds; ++i)
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{
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fds[i].sem = &sem;
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fds[i].revents = 0;
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fds[i].priv = NULL;
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// If fd is valid
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if (valid_fd(fds[i].fd))
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{
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CDev *dev = (CDev *)(filemap[fds[i].fd]->cdev);;
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PX4_DEBUG("px4_poll: CDev->poll(setup) %d\n", fds[i].fd);
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ret = dev->poll(filemap[fds[i].fd], &fds[i], true);
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if (ret < 0)
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break;
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}
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}
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if (ret >= 0)
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{
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if (timeout >= 0)
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{
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pthread_t pt;
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void *res;
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ts.tv_sec = timeout/1000;
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ts.tv_nsec = (timeout % 1000)*1000;
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// Create a timer to unblock
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struct timerData td(sem, ts);
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int rv = pthread_create(&pt, NULL, timer_handler, (void *)&td);
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if (rv != 0) {
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count = -1;
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goto cleanup;
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}
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sem_wait(&sem);
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// Make sure timer thread is killed before sem goes
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// out of scope
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(void)pthread_cancel(pt);
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(void)pthread_join(pt, &res);
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}
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else
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{
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sem_wait(&sem);
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}
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// For each fd
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for (i=0; i<nfds; ++i)
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{
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// If fd is valid
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if (valid_fd(fds[i].fd))
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{
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CDev *dev = (CDev *)(filemap[fds[i].fd]->cdev);;
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PX4_DEBUG("px4_poll: CDev->poll(teardown) %d\n", fds[i].fd);
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ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
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if (ret < 0)
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break;
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if (fds[i].revents)
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count += 1;
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}
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}
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}
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cleanup:
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sem_destroy(&sem);
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return count;
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}
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}
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