extensive orb_advert_t fixes

The calls to orb_advertise were being mishandled throughout the code.
There were ::close() calls on memory pointers, there were checks
against < 0 when it is a pointer to a object and values larger than
0x7ffffffff are valid. Some places orb_advert_t variables were
being initialized as 0 other places as -1.

The orb_advert_t type was changed to uintptr_t so the pointer value
would not be wrapped as a negative number. This was causing a failure
on ARM.

Tests for < 0 were changed to == 0 since a null pointer is the valid
representation for error, or uninitialized.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/drivers/airspeed/airspeed.cpp

@@ -86,8 +86,8 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
 	_measure_ticks(0),
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
-	_airspeed_pub(-1),
-	_subsys_pub(-1),
+	_airspeed_pub(0),
+	_subsys_pub(0),
 	_class_instance(-1),
 	_conversion_interval(conversion_interval),
 	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
@@ -146,7 +146,7 @@ Airspeed::init()
 		/* measurement will have generated a report, publish */
 		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
 
-		if (_airspeed_pub < 0)
+		if (_airspeed_pub == 0)
 			warnx("uORB started?");
 	}
 
@@ -367,7 +367,7 @@ Airspeed::update_status()
 			SUBSYSTEM_TYPE_DIFFPRESSURE
 		};
 
-		if (_subsys_pub > 0) {
+		if (_subsys_pub == 0) {
 			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
 		} else {
 			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);

src/drivers/batt_smbus/batt_smbus.cpp

@@ -203,7 +203,7 @@ BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
 	_enabled(false),
 	_work{},
 	_reports(nullptr),
-	_batt_topic(-1),
+	_batt_topic(0),
 	_batt_orb_id(nullptr),
 	_start_time(0),
 	_batt_capacity(0)
@@ -427,13 +427,13 @@ BATT_SMBUS::cycle()
 		}
 
 		// publish to orb
-		if (_batt_topic != -1) {
+		if (_batt_topic != 0) {
 			orb_publish(_batt_orb_id, _batt_topic, &new_report);
 
 		} else {
 			_batt_topic = orb_advertise(_batt_orb_id, &new_report);
 
-			if (_batt_topic < 0) {
+			if (_batt_topic == 0) {
 				errx(1, "ADVERT FAIL");
 			}
 		}

src/drivers/bma180/bma180.cpp

@@ -238,7 +238,7 @@ BMA180::BMA180(int bus, spi_dev_e device) :
 	_reports(nullptr),
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
-	_accel_topic(-1),
+	_accel_topic(0),
 	_class_instance(-1),
 	_current_lowpass(0),
 	_current_range(0),
@@ -733,7 +733,7 @@ BMA180::measure()
 	poll_notify(POLLIN);
 
 	/* publish for subscribers */
-	if (_accel_topic > 0 && !(_pub_blocked))
+	if (_accel_topic != 0 && !(_pub_blocked))
 		orb_publish(ORB_ID(sensor_accel), _accel_topic, &report);
 
 	/* stop the perf counter */

src/drivers/gimbal/gimbal.cpp

@@ -180,7 +180,7 @@ Gimbal::Gimbal() :
 	_attitude_compensation_pitch(true),
 	_attitude_compensation_yaw(true),
 	_initialized(false),
-	_actuator_controls_2_topic(-1),
+	_actuator_controls_2_topic(0),
 	_sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "gimbal_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "gimbal_buffer_overflows"))
@@ -197,7 +197,6 @@ Gimbal::~Gimbal()
 	/* make sure we are truly inactive */
 	stop();
 
-	::close(_actuator_controls_2_topic);
 	::close(_vehicle_command_sub);
 }
 
@@ -281,7 +280,7 @@ Gimbal::cycle()
 		zero_report.timestamp = hrt_absolute_time();
 		_actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report);
 
-		if (_actuator_controls_2_topic < 0) {
+		if (_actuator_controls_2_topic == 0) {
 			warnx("advert err");
 		}
 

src/drivers/gps/gps.cpp

@@ -175,9 +175,9 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
 	_mode(GPS_DRIVER_MODE_UBX),
 	_Helper(nullptr),
 	_Sat_Info(nullptr),
-	_report_gps_pos_pub(-1),
+	_report_gps_pos_pub(0),
 	_p_report_sat_info(nullptr),
-	_report_sat_info_pub(-1),
+	_report_sat_info_pub(0),
 	_rate(0.0f),
 	_fake_gps(fake_gps)
 {

src/drivers/hil/hil.cpp

@@ -805,7 +805,7 @@ fake(int argc, char *argv[])
 
 	orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
 
-	if (handle < 0) {
+	if (handle == 0) {
 		puts("advertise failed");
 		return 1;
 	}

src/drivers/hmc5883/hmc5883.cpp

@@ -360,7 +360,7 @@ HMC5883::HMC5883(device::Device *interface, const char *path, enum Rotation rota
 	_collect_phase(false),
 	_class_instance(-1),
 	_orb_class_instance(-1),
-	_mag_topic(-1),
+	_mag_topic(0),
 	_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
@@ -986,14 +986,14 @@ HMC5883::collect()
 
 	if (!(_pub_blocked)) {
 
-		if (_mag_topic != -1) {
+		if (_mag_topic != 0) {
 			/* publish it */
 			orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
 		} else {
 			_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &new_report,
 				&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
 
-			if (_mag_topic < 0)
+			if (_mag_topic == 0)
 				debug("ADVERT FAIL");
 		}
 	}

src/drivers/hott/messages.cpp

@@ -63,7 +63,7 @@ static int _sensor_sub = -1;
 static int _airspeed_sub = -1;
 static int _esc_sub = -1;
 
-static orb_advert_t _esc_pub;
+static orb_advert_t _esc_pub = 0;
 
 static bool _home_position_set = false;
 static double _home_lat = 0.0d;

src/drivers/l3gd20/l3gd20.cpp

@@ -411,7 +411,7 @@ L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotati
 	_gyro_scale{},
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
-	_gyro_topic(-1),
+	_gyro_topic(0),
 	_orb_class_instance(-1),
 	_class_instance(-1),
 	_current_rate(0),
@@ -490,7 +490,7 @@ L3GD20::init()
 	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
 		&_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
 
-	if (_gyro_topic < 0) {
+	if (_gyro_topic == 0) {
 		debug("failed to create sensor_gyro publication");
 	}
 

src/drivers/lsm303d/lsm303d.cpp

@@ -563,7 +563,7 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rota
 	_mag_range_ga(0.0f),
 	_mag_range_scale(0.0f),
 	_mag_samplerate(0),
-	_accel_topic(-1),
+	_accel_topic(0),
 	_accel_orb_class_instance(-1),
 	_accel_class_instance(-1),
 	_accel_read(0),
@@ -676,7 +676,7 @@ LSM303D::init()
 	_mag->_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
 		&_mag->_mag_orb_class_instance, ORB_PRIO_LOW);
 
-	if (_mag->_mag_topic < 0) {
+	if (_mag->_mag_topic == 0) {
 		warnx("ADVERT ERR");
 	}
 
@@ -691,7 +691,7 @@ LSM303D::init()
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
 		&_accel_orb_class_instance, (is_external()) ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT);
 
-	if (_accel_topic < 0) {
+	if (_accel_topic == 0) {
 		warnx("ADVERT ERR");
 	}
 
@@ -1770,7 +1770,7 @@ LSM303D::test_error()
 LSM303D_mag::LSM303D_mag(LSM303D *parent) :
 	CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG),
 	_parent(parent),
-	_mag_topic(-1),
+	_mag_topic(0),
 	_mag_orb_class_instance(-1),
 	_mag_class_instance(-1)
 {

src/drivers/mb12xx/mb12xx.cpp

@@ -211,7 +211,7 @@ MB12XX::MB12XX(int bus, int address) :
 	_collect_phase(false),
 	_class_instance(-1),
 	_orb_class_instance(-1),
-	_distance_sensor_topic(-1),
+	_distance_sensor_topic(nullptr),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows")),
@@ -276,7 +276,7 @@ MB12XX::init()
 		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
 							     &_orb_class_instance, ORB_PRIO_LOW);
 
-		if (_distance_sensor_topic < 0) {
+		if (_distance_sensor_topic == nullptr) {
 			log("failed to create distance_sensor object. Did you start uOrb?");
 		}
 	}
@@ -588,7 +588,7 @@ MB12XX::collect()
 	report.id = 0;
 
 	/* publish it, if we are the primary */
-	if (_distance_sensor_topic >= 0) {
+	if (_distance_sensor_topic != nullptr) {
 		orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
 	}
 

src/drivers/mkblctrl/mkblctrl.cpp

@@ -641,7 +641,6 @@ MK::task_main()
 
 	}
 
-	::close(_t_esc_status);
 	::close(_t_actuators);
 	::close(_t_actuator_armed);
 

src/drivers/mpu6000/mpu6000.cpp

@@ -507,7 +507,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
 	_accel_scale{},
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
-	_accel_topic(-1),
+	_accel_topic(0),
 	_accel_orb_class_instance(-1),
 	_accel_class_instance(-1),
 	_gyro_reports(nullptr),
@@ -658,7 +658,7 @@ MPU6000::init()
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
 		&_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
 
-	if (_accel_topic < 0) {
+	if (_accel_topic == 0) {
 		warnx("ADVERT FAIL");
 	}
 
@@ -670,7 +670,7 @@ MPU6000::init()
 	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
 		&_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
 
-	if (_gyro->_gyro_topic < 0) {
+	if (_gyro->_gyro_topic == 0) {
 		warnx("ADVERT FAIL");
 	}
 
@@ -1847,7 +1847,7 @@ MPU6000::print_registers()
 MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
 	CDev("MPU6000_gyro", path),
 	_parent(parent),
-	_gyro_topic(-1),
+	_gyro_topic(0),
 	_gyro_orb_class_instance(-1),
 	_gyro_class_instance(-1)
 {

src/drivers/ms5611/ms5611_nuttx.cpp

@@ -224,7 +224,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char*
 	_OFF(0),
 	_SENS(0),
 	_msl_pressure(101325),
-	_baro_topic(-1),
+	_baro_topic(0),
 	_orb_class_instance(-1),
 	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
@@ -322,7 +322,7 @@ MS5611::init()
 				&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
 
 
-		if (_baro_topic < 0) {
+		if (_baro_topic == 0) {
 			warnx("failed to create sensor_baro publication");
 		}
 

src/drivers/ms5611/ms5611_posix.cpp

@@ -223,7 +223,7 @@ MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char*
 	_OFF(0),
 	_SENS(0),
 	_msl_pressure(101325),
-	_baro_topic(-1),
+	_baro_topic(0),
 	_orb_class_instance(-1),
 	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "ms5611_read")),
@@ -325,7 +325,7 @@ MS5611::init()
 		_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
 				&_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
 
-		if (_baro_topic == (orb_advert_t)(-1)) {
+		if (_baro_topic == 0) {
 			warnx("failed to create sensor_baro publication");
 		}
 		//warnx("sensor_baro publication %ld", _baro_topic);

src/drivers/px4flow/px4flow.cpp

@@ -193,8 +193,8 @@ PX4FLOW::PX4FLOW(int bus, int address, enum Rotation rotation) :
 	_collect_phase(false),
 	_class_instance(-1),
 	_orb_class_instance(-1),
-	_px4flow_topic(-1),
-	_distance_sensor_topic(-1),
+	_px4flow_topic(nullptr),
+	_distance_sensor_topic(nullptr),
 	_sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")),
@@ -517,7 +517,7 @@ PX4FLOW::collect()
 	float zeroval = 0.0f;
 	rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
 
-	if (_px4flow_topic < 0) {
+	if (_px4flow_topic == 0) {
 		_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
 
 	} else {

src/drivers/sf0x/sf0x.cpp

@@ -200,7 +200,7 @@ SF0X::SF0X(const char *port) :
 	_last_read(0),
 	_class_instance(-1),
 	_orb_class_instance(-1),
-	_distance_sensor_topic(-1),
+	_distance_sensor_topic(nullptr),
 	_consecutive_fail_count(0),
 	_sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")),
@@ -293,6 +293,7 @@ SF0X::init()
 
 		_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
+<<<<<<< HEAD
 		if (_class_instance == CLASS_DEVICE_PRIMARY) {
 			/* get a publish handle on the range finder topic */
 			struct distance_sensor_s ds_report = {};
@@ -303,6 +304,10 @@ SF0X::init()
 			if (_distance_sensor_topic < 0) {
 				log("failed to create distance_sensor object. Did you start uOrb?");
 			}
+=======
+		if (_range_finder_topic == 0) {
+			warnx("advert err");
+>>>>>>> extensive orb_advert_t fixes
 		}
 
 	} while(0);

src/drivers/trone/trone.cpp

@@ -238,7 +238,7 @@ TRONE::TRONE(int bus, int address) :
 	_collect_phase(false),
 	_class_instance(-1),
 	_orb_class_instance(-1),
-	_distance_sensor_topic(-1),
+	_distance_sensor_topic(0),
 	_sample_perf(perf_alloc(PC_ELAPSED, "trone_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "trone_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "trone_buffer_overflows"))
@@ -301,7 +301,7 @@ TRONE::init()
 		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
 							     &_orb_class_instance, ORB_PRIO_LOW);
 
-		if (_distance_sensor_topic < 0) {
+		if (_distance_sensor_topic == 0) {
 			log("failed to create distance_sensor object. Did you start uOrb?");
 		}
 	}
@@ -587,7 +587,7 @@ TRONE::collect()
 	report.id = 0;
 
 	/* publish it, if we are the primary */
-	if (_distance_sensor_topic >= 0) {
+	if (_distance_sensor_topic != nullptr) {
 		orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
 	}
 
@@ -621,9 +621,9 @@ TRONE::start()
 		true,
 		SUBSYSTEM_TYPE_RANGEFINDER
 	};
-	static orb_advert_t pub = -1;
+	static orb_advert_t pub = nullptr;
 
-	if (pub > 0) {
+	if (pub != nullptr) {
 		orb_publish(ORB_ID(subsystem_info), pub, &info);
 
 	} else {