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cdev: posix remove std::map usage

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- this is to make things a little easier for platforms like QuRT (voxl snapdragon) where there are libstdc++ complications
This commit is contained in:
Daniel Agar
2020-07-21 10:17:55 -04:00
committed by GitHub
parent 81f57bccb6
commit b8b19f6166
7 changed files with 132 additions and 243 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/cdev/CMakeLists.txt
-1
View File
@@ -39,7 +39,6 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
else()
list(APPEND SRCS_PLATFORM
posix/cdev_platform.cpp
posix/vfile.cpp
)
endif()
src/lib/cdev/posix/cdev_platform.cpp
+107 -73
View File
@@ -34,68 +34,88 @@
#include "cdev_platform.hpp"
#include <string>
#include <map>
#include "vfile.h"
#include "../CDev.hpp"
#include <px4_platform_common/log.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/time.h>
using namespace std;
const cdev::px4_file_operations_t cdev::CDev::fops = {};
pthread_mutex_t devmutex = PTHREAD_MUTEX_INITIALIZER;
pthread_mutex_t filemutex = PTHREAD_MUTEX_INITIALIZER;
#define PX4_MAX_FD 350
static map<string, void *> devmap;
static cdev::file_t filemap[PX4_MAX_FD] = {};
struct px4_dev_t {
char *name{nullptr};
cdev::CDev *cdev{nullptr};
px4_dev_t(const char *n, cdev::CDev *c) : cdev(c)
{
name = strdup(n);
}
~px4_dev_t()
{
free(name);
}
private:
px4_dev_t() = default;
};
static px4_dev_t *devmap[128] {};
#define PX4_MAX_FD 128
static cdev::file_t filemap[PX4_MAX_FD] {};
class VFile : public cdev::CDev
{
public:
VFile(const char *fname, mode_t mode) : cdev::CDev(fname) {}
~VFile() override = default;
ssize_t write(cdev::file_t *handlep, const char *buffer, size_t buflen) override
{
// ignore what was written, but let pollers know something was written
poll_notify(POLLIN);
return buflen;
}
};
static cdev::CDev *getDev(const char *path)
{
pthread_mutex_lock(&devmutex);
for (const auto &dev : devmap) {
if (dev && (strcmp(dev->name, path) == 0)) {
pthread_mutex_unlock(&devmutex);
return dev->cdev;
}
}
pthread_mutex_unlock(&devmutex);
return nullptr;
}
static cdev::CDev *getFile(int fd)
{
pthread_mutex_lock(&filemutex);
cdev::CDev *dev = nullptr;
if (fd < PX4_MAX_FD && fd >= 0) {
dev = filemap[fd].cdev;
}
pthread_mutex_unlock(&filemutex);
return dev;
}
extern "C" {
static cdev::CDev *getDev(const char *path)
{
PX4_DEBUG("CDev::getDev");
pthread_mutex_lock(&devmutex);
auto item = devmap.find(path);
if (item != devmap.end()) {
pthread_mutex_unlock(&devmutex);
return (cdev::CDev *)item->second;
}
pthread_mutex_unlock(&devmutex);
return nullptr;
}
static cdev::CDev *get_vdev(int fd)
{
pthread_mutex_lock(&filemutex);
bool valid = (fd < PX4_MAX_FD && fd >= 0 && filemap[fd].vdev);
cdev::CDev *dev;
if (valid) {
dev = (cdev::CDev *)(filemap[fd].vdev);
} else {
dev = nullptr;
}
pthread_mutex_unlock(&filemutex);
return dev;
}
int register_driver(const char *name, const cdev::px4_file_operations_t *fops, cdev::mode_t mode, void *data)
{
PX4_DEBUG("CDev::register_driver %s", name);
int ret = 0;
int ret = -ENOSPC;
if (name == nullptr || data == nullptr) {
return -EINVAL;
@@ -104,18 +124,28 @@ extern "C" {
pthread_mutex_lock(&devmutex);
// Make sure the device does not already exist
auto item = devmap.find(name);
if (item != devmap.end()) {
pthread_mutex_unlock(&devmutex);
return -EEXIST;
for (const auto &dev : devmap) {
if (dev && (strcmp(dev->name, name) == 0)) {
pthread_mutex_unlock(&devmutex);
return -EEXIST;
}
}
devmap[name] = (void *)data;
PX4_DEBUG("Registered DEV %s", name);
for (auto &dev : devmap) {
if (dev == nullptr) {
dev = new px4_dev_t(name, (cdev::CDev *)data);
PX4_DEBUG("Registered DEV %s", name);
ret = PX4_OK;
break;
}
}
pthread_mutex_unlock(&devmutex);
if (ret != PX4_OK) {
PX4_ERR("No free devmap entries - increase devmap size");
}
return ret;
}
@@ -130,9 +160,14 @@ extern "C" {
pthread_mutex_lock(&devmutex);
if (devmap.erase(name) > 0) {
PX4_DEBUG("Unregistered DEV %s", name);
ret = 0;
for (auto &dev : devmap) {
if (dev && (strcmp(name, dev->name) == 0)) {
delete dev;
dev = nullptr;
PX4_DEBUG("Unregistered DEV %s", name);
ret = PX4_OK;
break;
}
}
pthread_mutex_unlock(&devmutex);
@@ -158,15 +193,15 @@ extern "C" {
// Create the file
PX4_DEBUG("Creating virtual file %s", path);
dev = cdev::VFile::createFile(path, mode);
dev = new VFile(path, mode);
register_driver(path, nullptr, 0666, (void *)dev);
}
if (dev) {
pthread_mutex_lock(&filemutex);
for (i = 0; i < PX4_MAX_FD; ++i) {
if (filemap[i].vdev == nullptr) {
if (filemap[i].cdev == nullptr) {
filemap[i] = cdev::file_t(flags, dev);
break;
}
@@ -180,10 +215,9 @@ extern "C" {
} else {
const unsigned NAMELEN = 32;
char thread_name[NAMELEN] = {};
char thread_name[NAMELEN] {};
PX4_WARN("%s: exceeded maximum number of file descriptors, accessing %s",
thread_name, path);
PX4_WARN("%s: exceeded maximum number of file descriptors, accessing %s", thread_name, path);
#ifndef __PX4_QURT
int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);
@@ -213,13 +247,13 @@ extern "C" {
{
int ret;
cdev::CDev *dev = get_vdev(fd);
cdev::CDev *dev = getFile(fd);
if (dev) {
pthread_mutex_lock(&filemutex);
ret = dev->close(&filemap[fd]);
filemap[fd].vdev = nullptr;
filemap[fd].cdev = nullptr;
pthread_mutex_unlock(&filemutex);
PX4_DEBUG("px4_close fd = %d", fd);
@@ -239,7 +273,7 @@ extern "C" {
{
int ret;
cdev::CDev *dev = get_vdev(fd);
cdev::CDev *dev = getFile(fd);
if (dev) {
PX4_DEBUG("px4_read fd = %d", fd);
@@ -260,7 +294,7 @@ extern "C" {
{
int ret;
cdev::CDev *dev = get_vdev(fd);
cdev::CDev *dev = getFile(fd);
if (dev) {
PX4_DEBUG("px4_write fd = %d", fd);
@@ -282,7 +316,7 @@ extern "C" {
PX4_DEBUG("px4_ioctl fd = %d", fd);
int ret = 0;
cdev::CDev *dev = get_vdev(fd);
cdev::CDev *dev = getFile(fd);
if (dev) {
ret = dev->ioctl(&filemap[fd], cmd, arg);
@@ -306,7 +340,7 @@ extern "C" {
int ret = -1;
const unsigned NAMELEN = 32;
char thread_name[NAMELEN] = {};
char thread_name[NAMELEN] {};
#ifndef __PX4_QURT
int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);
@@ -332,7 +366,7 @@ extern "C" {
fds[i].revents = 0;
fds[i].priv = nullptr;
cdev::CDev *dev = get_vdev(fds[i].fd);
cdev::CDev *dev = getFile(fds[i].fd);
// If fd is valid
if (dev) {
@@ -340,8 +374,7 @@ extern "C" {
ret = dev->poll(&filemap[fds[i].fd], &fds[i], true);
if (ret < 0) {
PX4_WARN("%s: px4_poll() error: %s",
thread_name, strerror(errno));
PX4_WARN("%s: px4_poll() error: %s", thread_name, strerror(errno));
break;
}
@@ -355,7 +388,6 @@ extern "C" {
// check for new data
if (fd_pollable) {
if (timeout > 0) {
// Get the current time
struct timespec ts;
// Note, we can't actually use CLOCK_MONOTONIC on macOS
@@ -383,7 +415,7 @@ extern "C" {
// go through all fds and count how many have data
for (unsigned int i = 0; i < nfds; ++i) {
cdev::CDev *dev = get_vdev(fds[i].fd);
cdev::CDev *dev = getFile(fds[i].fd);
// If fd is valid
if (dev) {
@@ -427,7 +459,9 @@ extern "C" {
pthread_mutex_lock(&devmutex);
for (const auto &dev : devmap) {
PX4_INFO_RAW(" %s\n", dev.first.c_str());
if (dev) {
PX4_INFO_RAW(" %s\n", dev->name);
}
}
pthread_mutex_unlock(&devmutex);
src/lib/cdev/posix/cdev_platform.hpp
+4 -2
View File
@@ -17,13 +17,15 @@ struct file_operations {
using px4_file_operations_t = struct file_operations;
using mode_t = uint32_t;
class CDev;
struct file_t {
int f_oflags{0};
void *f_priv{nullptr};
void *vdev{nullptr};
CDev *cdev{nullptr};
file_t() = default;
file_t(int f, void *c) : f_oflags(f), vdev(c) {}
file_t(int f, CDev *c) : f_oflags(f), cdev(c) {}
};
} // namespace cdev
src/lib/cdev/posix/vfile.cpp
-67
View File
@@ -1,67 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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 vdev_file.cpp
* Virtual file
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include "vfile.h"
namespace cdev
{
VFile::VFile(const char *fname, mode_t mode) :
CDev(fname)
{
}
VFile *VFile::createFile(const char *fname, mode_t mode)
{
VFile *me = new VFile(fname, mode);
px4_file_operations_t *file_ops = nullptr;
register_driver(fname, file_ops, 0666, (void *)me);
return me;
}
ssize_t VFile::write(file_t *handlep, const char *buffer, size_t buflen)
{
// ignore what was written, but let pollers know something was written
poll_notify(POLLIN);
return buflen;
}
} // namespace cdev
src/lib/cdev/posix/vfile.h
-62
View File
@@ -1,62 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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 vfile.cpp
* Virtual file
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#pragma once
#include "../CDev.hpp"
namespace cdev
{
class VFile : public CDev
{
public:
static VFile *createFile(const char *fname, mode_t mode);
~VFile() = default;
ssize_t write(file_t *handlep, const char *buffer, size_t buflen) override;
private:
VFile(const char *fname, mode_t mode);
VFile(const VFile &);
};
} // namespace cdev
src/modules/uORB/uORBDeviceNode.cpp
+20 -35
View File
@@ -42,18 +42,6 @@
#include "uORBCommunicator.hpp"
#endif /* ORB_COMMUNICATOR */
uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(cdev::file_t *filp)
{
#ifndef __PX4_NUTTX
if (!filp) {
return nullptr;
}
#endif
return (SubscriberData *)(filp->f_priv);
}
uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
ORB_PRIO priority, uint8_t queue_size) :
CDev(path),
@@ -125,7 +113,7 @@ int
uORB::DeviceNode::close(cdev::file_t *filp)
{
if (filp->f_oflags == PX4_F_RDONLY) { /* subscriber */
SubscriberData *sd = filp_to_sd(filp);
SubscriberData *sd = static_cast<SubscriberData *>(filp->f_priv);
if (sd != nullptr) {
remove_internal_subscriber();
@@ -196,7 +184,7 @@ uORB::DeviceNode::read(cdev::file_t *filp, char *buffer, size_t buflen)
return -EIO;
}
SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
SubscriberData *sd = static_cast<SubscriberData *>(filp->f_priv);
/*
* Perform an atomic copy & state update
@@ -282,12 +270,10 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
int
uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
SubscriberData *sd = filp_to_sd(filp);
switch (cmd) {
case ORBIOCUPDATED: {
ATOMIC_ENTER;
*(bool *)arg = appears_updated(sd);
*(bool *)arg = appears_updated(filp);
ATOMIC_LEAVE;
return PX4_OK;
}
@@ -296,6 +282,8 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
int ret = PX4_OK;
lock();
SubscriberData *sd = static_cast<SubscriberData *>(filp->f_priv);
if (arg == 0) {
if (sd->update_interval) {
delete (sd->update_interval);
@@ -337,12 +325,15 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
return ret;
}
case ORBIOCGETINTERVAL:
if (sd->update_interval) {
*(unsigned *)arg = sd->update_interval->interval;
case ORBIOCGETINTERVAL: {
SubscriberData *sd = static_cast<SubscriberData *>(filp->f_priv);
} else {
*(unsigned *)arg = 0;
if (sd->update_interval) {
*(unsigned *)arg = sd->update_interval->interval;
} else {
*(unsigned *)arg = 0;
}
}
return OK;
@@ -459,12 +450,8 @@ int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, ORB_PRIO
px4_pollevent_t
uORB::DeviceNode::poll_state(cdev::file_t *filp)
{
SubscriberData *sd = filp_to_sd(filp);
/*
* If the topic appears updated to the subscriber, say so.
*/
if (appears_updated(sd)) {
// If the topic appears updated to the subscriber, say so.
if (appears_updated(filp)) {
return POLLIN;
}
@@ -474,24 +461,22 @@ uORB::DeviceNode::poll_state(cdev::file_t *filp)
void
uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t events)
{
SubscriberData *sd = filp_to_sd((cdev::file_t *)fds->priv);
/*
* If the topic looks updated to the subscriber, go ahead and notify them.
*/
if (appears_updated(sd)) {
// If the topic looks updated to the subscriber, go ahead and notify them.
if (appears_updated((cdev::file_t *)fds->priv)) {
CDev::poll_notify_one(fds, events);
}
}
bool
uORB::DeviceNode::appears_updated(SubscriberData *sd)
uORB::DeviceNode::appears_updated(cdev::file_t *filp)
{
// check if this topic has been published yet, if not bail out
if (_data == nullptr) {
return false;
}
SubscriberData *sd = static_cast<SubscriberData *>(filp->f_priv);
// if subscriber has interval check time since last update
if (sd->update_interval != nullptr) {
if (hrt_elapsed_time(&sd->update_interval->last_update) < sd->update_interval->interval) {
src/modules/uORB/uORBDeviceNode.hpp
+1 -3
View File
@@ -269,8 +269,6 @@ private:
uint8_t _queue_size; /**< maximum number of elements in the queue */
int8_t _subscriber_count{0};
inline static SubscriberData *filp_to_sd(cdev::file_t *filp);
/**
* Check whether a topic appears updated to a subscriber.
*
@@ -279,6 +277,6 @@ private:
* @param sd The subscriber for whom to check.
* @return True if the topic should appear updated to the subscriber
*/
bool appears_updated(SubscriberData *sd);
bool appears_updated(cdev::file_t *filp);
};