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extensive orb_advert_t fixes

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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>
This commit is contained in:
Mark Charlebois
2015-05-23 00:35:17 +00:00
committed by Lorenz Meier
parent 9a67303416
commit a734fc96d1
52 changed files with 202 additions and 208 deletions
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src/examples/hwtest/hwtest.c
+4 -4
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@@ -63,7 +63,7 @@ int ex_hwtest_main(int argc, char *argv[])
struct actuator_controls_s actuators;
memset(&actuators, 0, sizeof(actuators));
orb_advert_t actuator_pub_fd = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
orb_advert_t actuator_pub_ptr = orb_advertise(ORB_ID(actuator_controls_0), &actuators);
struct actuator_armed_s arm;
memset(&arm, 0 , sizeof(arm));
@@ -71,8 +71,8 @@ int ex_hwtest_main(int argc, char *argv[])
arm.timestamp = hrt_absolute_time();
arm.ready_to_arm = true;
arm.armed = true;
orb_advert_t arm_pub_fd = orb_advertise(ORB_ID(actuator_armed), &arm);
orb_publish(ORB_ID(actuator_armed), arm_pub_fd, &arm);
orb_advert_t arm_pub_ptr = orb_advertise(ORB_ID(actuator_armed), &arm);
orb_publish(ORB_ID(actuator_armed), arm_pub_ptr, &arm);
/* read back values to validate */
int arm_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
@@ -118,7 +118,7 @@ int ex_hwtest_main(int argc, char *argv[])
}
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_controls_0), actuator_pub_fd, &actuators);
orb_publish(ORB_ID(actuator_controls_0), actuator_pub_ptr, &actuators);
usleep(10000);
}