CDev extract from drivers Device class hierarchy

- leave CDev shim for now until all usage is updated

src/lib/cdev/nuttx/cdev_platform.cpp

@@ -0,0 +1,143 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file cdev_platform.cpp
+ *
+ * NuttX Character device functions
+ */
+#include "cdev_platform.hpp"
+#include "../CDev.hpp"
+
+#include "px4_posix.h"
+#include "drivers/drv_device.h"
+#include <sys/ioctl.h>
+
+#ifdef CONFIG_DISABLE_POLL
+# error This driver is not compatible with CONFIG_DISABLE_POLL
+#endif
+
+namespace cdev
+{
+
+/*
+ * The standard NuttX operation dispatch table can't call C++ member functions
+ * directly, so we have to bounce them through this dispatch table.
+ */
+static int	cdev_open(file_t *filp);
+static int	cdev_close(file_t *filp);
+static ssize_t	cdev_read(file_t *filp, char *buffer, size_t buflen);
+static ssize_t	cdev_write(file_t *filp, const char *buffer, size_t buflen);
+static off_t	cdev_seek(file_t *filp, off_t offset, int whence);
+static int	cdev_ioctl(file_t *filp, int cmd, unsigned long arg);
+static int	cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup);
+
+/**
+ * Character device indirection table.
+ *
+ * Every cdev we register gets the same function table; we use the private data
+ * field in the inode to store the instance pointer.
+ *
+ * Note that we use the GNU extension syntax here because we don't get designated
+ * initialisers in gcc 4.6.
+ */
+const struct file_operations cdev::CDev::fops = {
+open	: cdev_open,
+close	: cdev_close,
+read	: cdev_read,
+write	: cdev_write,
+seek	: cdev_seek,
+ioctl	: cdev_ioctl,
+poll	: cdev_poll,
+#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
+unlink	: nullptr
+#endif
+};
+
+static int
+cdev_open(file_t *filp)
+{
+	cdev::CDev *cdev = (cdev::CDev *)(filp->f_inode->i_private);
+
+	return cdev->open(filp);
+}
+
+static int
+cdev_close(file_t *filp)
+{
+	cdev::CDev *cdev = (cdev::CDev *)(filp->f_inode->i_private);
+
+	return cdev->close(filp);
+}
+
+static ssize_t
+cdev_read(file_t *filp, char *buffer, size_t buflen)
+{
+	cdev::CDev *cdev = (cdev::CDev *)(filp->f_inode->i_private);
+
+	return cdev->read(filp, buffer, buflen);
+}
+
+static ssize_t
+cdev_write(file_t *filp, const char *buffer, size_t buflen)
+{
+	cdev::CDev *cdev = (cdev::CDev *)(filp->f_inode->i_private);
+
+	return cdev->write(filp, buffer, buflen);
+}
+
+static off_t
+cdev_seek(file_t *filp, off_t offset, int whence)
+{
+	cdev::CDev *cdev = (cdev::CDev *)(filp->f_inode->i_private);
+
+	return cdev->seek(filp, offset, whence);
+}
+
+static int
+cdev_ioctl(file_t *filp, int cmd, unsigned long arg)
+{
+	cdev::CDev *cdev = (cdev::CDev *)(filp->f_inode->i_private);
+
+	return cdev->ioctl(filp, cmd, arg);
+}
+
+static int
+cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup)
+{
+	cdev::CDev *cdev = (cdev::CDev *)(filp->f_inode->i_private);
+
+	return cdev->poll(filp, fds, setup);
+}
+
+} // namespace cdev

src/lib/cdev/nuttx/cdev_platform.hpp

@@ -0,0 +1,19 @@
+
+#pragma once
+
+#include <cinttypes>
+
+#include <nuttx/arch.h>
+
+#include <px4_micro_hal.h>
+
+#define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
+#define ATOMIC_LEAVE px4_leave_critical_section(flags)
+
+namespace cdev
+{
+
+using px4_file_operations_t = struct file_operations;
+using file_t = struct file;
+
+} // namespace cdev