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/modules/uORB/uORB.h

@@ -135,7 +135,7 @@ __BEGIN_DECLS
  * a file-descriptor-based handle would not otherwise be in scope for the
  * publisher.
  */
-typedef intptr_t	orb_advert_t;
+typedef uintptr_t	orb_advert_t;
 
 /**
  * Advertise as the publisher of a topic.

src/modules/uORB/uORBManager_nuttx.cpp

@@ -89,18 +89,18 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
   /* open the node as an advertiser */
   fd = node_open(PUBSUB, meta, data, true, instance, priority);
   if (fd == ERROR)
-    return ERROR;
+    return 0;
 
   /* get the advertiser handle and close the node */
   result = ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
   close(fd);
   if (result == ERROR)
-    return ERROR;
+    return 0;
 
   /* the advertiser must perform an initial publish to initialise the object */
   result = orb_publish(meta, advertiser, data);
   if (result == ERROR)
-    return ERROR;
+    return 0;
 
   return advertiser;
 }

src/modules/uORB/uORBManager_posix.cpp

@@ -94,7 +94,7 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
   fd = node_open(PUBSUB, meta, data, true, instance, priority);
   if (fd == ERROR) {
     warnx("node_open as advertiser failed.");
-    return ERROR;
+    return 0;
   }
 
   /* get the advertiser handle and close the node */
@@ -102,14 +102,14 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
   px4_close(fd);
   if (result == ERROR) {
     warnx("px4_ioctl ORBIOCGADVERTISER  failed. fd = %d", fd);
-    return ERROR;
+    return 0;
   }
 
   /* the advertiser must perform an initial publish to initialise the object */
   result = orb_publish(meta, advertiser, data);
   if (result == ERROR) {
     warnx("orb_publish failed");
-    return ERROR;
+    return 0;
   }
 
   return advertiser;

src/modules/uORB/uORBTest_UnitTest.cpp

@@ -137,16 +137,17 @@ int uORBTest::UnitTest::pubsublatency_main(void)
 int uORBTest::UnitTest::test()
 {
   struct orb_test t, u;
-  int pfd, sfd;
+  int sfd;
+  orb_advert_t ptopic;
   bool updated;
 
   t.val = 0;
-  pfd = orb_advertise(ORB_ID(orb_test), &t);
+  ptopic = orb_advertise(ORB_ID(orb_test), &t);
 
-  if (pfd < 0)
+  if (ptopic == 0)
     return test_fail("advertise failed: %d", errno);
 
-  test_note("publish handle 0x%08x", pfd);
+  test_note("publish handle 0x%08x", ptopic);
   sfd = orb_subscribe(ORB_ID(orb_test));
 
   if (sfd < 0)
@@ -170,7 +171,7 @@ int uORBTest::UnitTest::test()
   t.val = 2;
   test_note("try publish");
 
-  if (PX4_OK != orb_publish(ORB_ID(orb_test), pfd, &t))
+  if (PX4_OK != orb_publish(ORB_ID(orb_test), ptopic, &t))
     return test_fail("publish failed");
 
   if (PX4_OK != orb_check(sfd, &updated))
@@ -186,7 +187,6 @@ int uORBTest::UnitTest::test()
     return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
 
   orb_unsubscribe(sfd);
-  close(pfd);
 
   /* this routine tests the multi-topic support */
   test_note("try multi-topic support");
@@ -197,7 +197,7 @@ int uORBTest::UnitTest::test()
   test_note("advertised");
 
   int instance1;
-  int pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
+  orb_advert_t pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
 
   if (instance0 != 0)
     return test_fail("mult. id0: %d", instance0);

src/modules/uORB/uORBTest_UnitTest.hpp

@@ -98,7 +98,7 @@ int uORBTest::UnitTest::latency_test(orb_id_t T, bool print)
   t.val = 308;
   t.time = hrt_absolute_time();
 
-  int pfd0 = orb_advertise(T, &t);
+  orb_advert_t pfd0 = orb_advertise(T, &t);
 
   char * const args[1] = { NULL };
 
@@ -128,8 +128,6 @@ int uORBTest::UnitTest::latency_test(orb_id_t T, bool print)
     usleep(1000);
   }
 
-  px4_close(pfd0);
-
   if (pubsub_task < 0) {
     return test_fail("failed launching task");
   }