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Linux: changed CDev to VDev for virtual device implementation

Browse Source 
To avoid confusion when a real device and a virtual device is
being used, changed CDev to VDev for Linux.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-04-01 15:06:15 -07:00
parent 8c8f57b5b4
commit ccd18929fc
11 changed files with 95 additions and 113 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/drivers/device/device.h
View File

@ -36,6 +36,6 @@
#ifdef __PX4_NUTTX
#include "device_nuttx.h"
#elif defined (__PX4_LINUX)
#include "vdevice.h"
#include "vdev.h"
#endif

6
src/drivers/device/i2c_linux.cpp
View File

@ -55,7 +55,7 @@ I2C::I2C(const char *name,
int bus,
uint16_t address) :
// base class
CDev(name, devname),
VDev(name, devname),
// public
// protected
_retries(0),
@ -93,7 +93,7 @@ I2C::init()
// way to set it from user space.
// do base class init, which will create device node, etc
ret = CDev::init();
ret = VDev::init();
if (ret != PX4_OK) {
debug("cdev init failed");
@ -231,7 +231,7 @@ int I2C::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
return 0;
default:
/* give it to the superclass */
return CDev::ioctl(handlep, cmd, arg);
return VDev::ioctl(handlep, cmd, arg);
}
}

27
src/drivers/device/i2c_linux.h
View File

@ -40,7 +40,7 @@
#ifndef _DEVICE_I2C_H
#define _DEVICE_I2C_H
#include "device.h"
#include "vdev.h"
#include <px4_i2c.h>
#include <linux/i2c.h>
@ -53,7 +53,7 @@ namespace device __EXPORT
/**
* Abstract class for character device on I2C
*/
class __EXPORT I2C : public CDev
class __EXPORT I2C : public VDev
{
public:
@ -92,12 +92,6 @@ protected:
virtual ~I2C();
virtual int init();
#if 0
/**
* Check for the presence of the device on the bus.
*/
virtual int probe();
#endif
virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
@ -126,25 +120,10 @@ protected:
*/
int transfer(struct i2c_msg *msgv, unsigned msgs);
#if 0
/**
* Change the bus address.
*
* Most often useful during probe() when the driver is testing
* several possible bus addresses.
*
* @param address The new bus address to set.
*/
void set_address(uint16_t address) {
_address = address;
_device_id.devid_s.address = _address;
}
#endif
private:
uint16_t _address;
int _fd;
std::string _dname;
std::string _dname;
I2C(const device::I2C&);
I2C operator=(const device::I2C&);

4
src/drivers/device/spi.h
View File

@ -50,7 +50,11 @@ namespace device __EXPORT
/**
* Abstract class for character device on SPI
*/
#ifdef __PX4_NUTTX
class __EXPORT SPI : public CDev
#else
class __EXPORT SPI : public VDev
#endif
{
protected:
/**

97
src/drivers/device/vdev.cpp
View File

@ -38,7 +38,7 @@
*/
#include "px4_posix.h"
#include "device.h"
#include "vdev.h"
#include "drivers/drv_device.h"
#include <stdlib.h>
@ -49,7 +49,6 @@ namespace device
{
int px4_errno;
struct px4_dev_t {
char *name;
@ -73,7 +72,7 @@ static px4_dev_t *devmap[PX4_MAX_DEV];
* directly, so we have to bounce them through this dispatch table.
*/
CDev::CDev(const char *name,
VDev::VDev(const char *name,
const char *devname) :
// base class
Device(name),
@ -89,14 +88,14 @@ CDev::CDev(const char *name,
_pollset[i] = nullptr;
}
CDev::~CDev()
VDev::~VDev()
{
if (_registered)
unregister_driver(_devname);
}
int
CDev::register_class_devname(const char *class_devname)
VDev::register_class_devname(const char *class_devname)
{
if (class_devname == nullptr) {
return -EINVAL;
@ -119,7 +118,7 @@ CDev::register_class_devname(const char *class_devname)
}
int
CDev::register_driver(const char *name, void *data)
VDev::register_driver(const char *name, void *data)
{
int ret = -ENOSPC;
@ -145,7 +144,7 @@ CDev::register_driver(const char *name, void *data)
}
int
CDev::unregister_driver(const char *name)
VDev::unregister_driver(const char *name)
{
int ret = -ENOSPC;
@ -165,7 +164,7 @@ CDev::unregister_driver(const char *name)
}
int
CDev::unregister_class_devname(const char *class_devname, unsigned class_instance)
VDev::unregister_class_devname(const char *class_devname, unsigned class_instance)
{
char name[32];
snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
@ -180,7 +179,7 @@ CDev::unregister_class_devname(const char *class_devname, unsigned class_instanc
}
int
CDev::init()
VDev::init()
{
// base class init first
int ret = Device::init();
@ -206,11 +205,11 @@ out:
* Default implementations of the character device interface
*/
int
CDev::open(px4_dev_handle_t *handlep)
VDev::open(px4_dev_handle_t *handlep)
{
int ret = PX4_OK;
debug("CDev::open");
debug("VDev::open");
lock();
/* increment the open count */
_open_count++;
@ -230,16 +229,16 @@ CDev::open(px4_dev_handle_t *handlep)
}
int
CDev::open_first(px4_dev_handle_t *handlep)
VDev::open_first(px4_dev_handle_t *handlep)
{
debug("CDev::open_first");
debug("VDev::open_first");
return PX4_OK;
}
int
CDev::close(px4_dev_handle_t *handlep)
VDev::close(px4_dev_handle_t *handlep)
{
debug("CDev::close");
debug("VDev::close");
int ret = PX4_OK;
lock();
@ -262,68 +261,66 @@ CDev::close(px4_dev_handle_t *handlep)
}
int
CDev::close_last(px4_dev_handle_t *handlep)
VDev::close_last(px4_dev_handle_t *handlep)
{
debug("CDev::close_last");
debug("VDev::close_last");
return PX4_OK;
}
ssize_t
CDev::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
VDev::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
{
debug("CDev::read");
debug("VDev::read");
return -ENOSYS;
}
ssize_t
CDev::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
VDev::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
{
debug("CDev::write");
debug("VDev::write");
return -ENOSYS;
}
off_t
CDev::seek(px4_dev_handle_t *handlep, off_t offset, int whence)
VDev::seek(px4_dev_handle_t *handlep, off_t offset, int whence)
{
return -ENOSYS;
}
int
CDev::ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg)
VDev::ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg)
{
debug("CDev::ioctl");
int ret = -ENOTTY;
debug("VDev::ioctl");
switch (cmd) {
/* fetch a pointer to the driver's private data */
case PX4_DIOC_GETPRIV:
*(void **)(uintptr_t)arg = (void *)this;
return PX4_OK;
ret = PX4_OK;
break;
case PX4_DEVIOCSPUBBLOCK:
_pub_blocked = (arg != 0);
return PX4_OK;
ret = PX4_OK;
break;
case PX4_DEVIOCGPUBBLOCK:
return _pub_blocked;
ret = _pub_blocked;
break;
case PX4_DEVIOCGDEVICEID:
ret = (int)_device_id.devid;
default:
break;
}
#if 0
/* try the superclass. The different ioctl() function form
* means we need to copy arg */
unsigned arg2 = arg;
int ret = Device::ioctl(cmd, arg2);
if (ret != -ENODEV)
return ret;
#endif
return -ENOTTY;
}
int
CDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
VDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
{
int ret = PX4_OK;
debug("CDev::Poll %s", setup ? "setup" : "teardown");
debug("VDev::Poll %s", setup ? "setup" : "teardown");
/*
* Lock against pollnotify() (and possibly other callers)
@ -336,7 +333,7 @@ CDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
* benefit.
*/
fds->priv = (void *)handlep;
debug("CDev::poll: fds->priv = %p", handlep);
debug("VDev::poll: fds->priv = %p", handlep);
/*
* Handle setup requests.
@ -369,9 +366,9 @@ CDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
}
void
CDev::poll_notify(pollevent_t events)
VDev::poll_notify(pollevent_t events)
{
debug("CDev::poll_notify events = %0x", events);
debug("VDev::poll_notify events = %0x", events);
/* lock against poll() as well as other wakeups */
lock();
@ -384,9 +381,9 @@ CDev::poll_notify(pollevent_t events)
}
void
CDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
VDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
{
debug("CDev::poll_notify_one");
debug("VDev::poll_notify_one");
int value;
sem_getvalue(fds->sem, &value);
@ -402,20 +399,20 @@ CDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
}
pollevent_t
CDev::poll_state(px4_dev_handle_t *handlep)
VDev::poll_state(px4_dev_handle_t *handlep)
{
debug("CDev::poll_notify");
debug("VDev::poll_notify");
/* by default, no poll events to report */
return 0;
}
int
CDev::store_poll_waiter(px4_pollfd_struct_t *fds)
VDev::store_poll_waiter(px4_pollfd_struct_t *fds)
{
/*
* Look for a free slot.
*/
debug("CDev::store_poll_waiter");
debug("VDev::store_poll_waiter");
for (unsigned i = 0; i < _max_pollwaiters; i++) {
if (nullptr == _pollset[i]) {
@ -430,9 +427,9 @@ CDev::store_poll_waiter(px4_pollfd_struct_t *fds)
}
int
CDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
VDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
{
debug("CDev::remove_poll_waiter");
debug("VDev::remove_poll_waiter");
for (unsigned i = 0; i < _max_pollwaiters; i++) {
if (fds == _pollset[i]) {
@ -446,12 +443,12 @@ CDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
return -EINVAL;
}
CDev *CDev::getDev(const char *path)
VDev *VDev::getDev(const char *path)
{
int i=0;
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i] && (strcmp(devmap[i]->name, path) == 0)) {
return (CDev *)(devmap[i]->cdev);
return (VDev *)(devmap[i]->cdev);
}
}
return NULL;

18
src/drivers/device/vdev.h
View File

@ -218,9 +218,9 @@ private:
};
/**
* Abstract class for any character device
* Abstract class for any virtual character device
*/
class __EXPORT CDev : public Device
class __EXPORT VDev : public Device
{
public:
/**
@ -229,12 +229,12 @@ public:
* @param name Driver name
* @param devname Device node name
*/
CDev(const char *name, const char *devname);
VDev(const char *name, const char *devname);
/**
* Destructor
*/
virtual ~CDev();
virtual ~VDev();
virtual int init();
@ -333,7 +333,7 @@ public:
*/
virtual int ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg);
static CDev *getDev(const char *path);
static VDev *getDev(const char *path);
protected:
@ -452,14 +452,15 @@ private:
int remove_poll_waiter(px4_pollfd_struct_t *fds);
/* do not allow copying this class */
CDev(const CDev&);
CDev operator=(const CDev&);
VDev(const VDev&);
VDev operator=(const VDev&);
};
#if 0
/**
* Abstract class for character device accessed via PIO
*/
class __EXPORT PIO : public CDev
class __EXPORT VPIO : public CDev
{
public:
/**
@ -519,6 +520,7 @@ protected:
private:
unsigned long _base;
};
#endif
} // namespace device

18
src/drivers/device/vdev_posix.cpp
View File

@ -84,7 +84,7 @@ inline bool valid_fd(int fd)
int px4_open(const char *path, int flags)
{
CDev *dev = CDev::getDev(path);
VDev *dev = VDev::getDev(path);
int ret = 0;
int i;
@ -117,7 +117,7 @@ int px4_close(int fd)
{
int ret;
if (valid_fd(fd)) {
CDev *dev = (CDev *)(filemap[fd]->cdev);
VDev *dev = (VDev *)(filemap[fd]->cdev);
PX4_DEBUG("px4_close fd = %d\n", fd);
ret = dev->close(filemap[fd]);
filemap[fd] = NULL;
@ -135,7 +135,7 @@ ssize_t px4_read(int fd, void *buffer, size_t buflen)
{
int ret;
if (valid_fd(fd)) {
CDev *dev = (CDev *)(filemap[fd]->cdev);
VDev *dev = (VDev *)(filemap[fd]->cdev);
PX4_DEBUG("px4_read fd = %d\n", fd);
ret = dev->read(filemap[fd], (char *)buffer, buflen);
}
@ -152,7 +152,7 @@ ssize_t px4_write(int fd, const void *buffer, size_t buflen)
{
int ret = PX4_ERROR;
if (valid_fd(fd)) {
CDev *dev = (CDev *)(filemap[fd]->cdev);
VDev *dev = (VDev *)(filemap[fd]->cdev);
PX4_DEBUG("px4_write fd = %d\n", fd);
ret = dev->write(filemap[fd], (const char *)buffer, buflen);
}
@ -169,7 +169,7 @@ int px4_ioctl(int fd, int cmd, unsigned long arg)
{
int ret = PX4_ERROR;
if (valid_fd(fd)) {
CDev *dev = (CDev *)(filemap[fd]->cdev);
VDev *dev = (VDev *)(filemap[fd]->cdev);
PX4_DEBUG("px4_ioctl fd = %d\n", fd);
ret = dev->ioctl(filemap[fd], cmd, arg);
}
@ -206,8 +206,8 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
// If fd is valid
if (valid_fd(fds[i].fd))
{
CDev *dev = (CDev *)(filemap[fds[i].fd]->cdev);;
PX4_DEBUG("px4_poll: CDev->poll(setup) %d\n", fds[i].fd);
VDev *dev = (VDev *)(filemap[fds[i].fd]->cdev);;
PX4_DEBUG("px4_poll: VDev->poll(setup) %d\n", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], true);
if (ret < 0)
@ -250,8 +250,8 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
// If fd is valid
if (valid_fd(fds[i].fd))
{
CDev *dev = (CDev *)(filemap[fds[i].fd]->cdev);;
PX4_DEBUG("px4_poll: CDev->poll(teardown) %d\n", fds[i].fd);
VDev *dev = (VDev *)(filemap[fds[i].fd]->cdev);;
PX4_DEBUG("px4_poll: VDev->poll(teardown) %d\n", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
if (ret < 0)

10
src/drivers/ms5611/ms5611_linux.cpp
View File

@ -100,7 +100,7 @@ static const int ERROR = -1;
#define MS5611_BARO_DEVICE_PATH_EXT "/dev/ms5611_ext"
#define MS5611_BARO_DEVICE_PATH_INT "/dev/ms5611_int"
class MS5611 : public device::CDev
class MS5611 : public device::VDev
{
public:
MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path);
@ -210,7 +210,7 @@ protected:
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path) :
CDev("MS5611", path),
VDev("MS5611", path),
_interface(interface),
_prom(prom_buf.s),
_measure_ticks(0),
@ -259,9 +259,9 @@ MS5611::init()
{
int ret;
ret = CDev::init();
ret = VDev::init();
if (ret != OK) {
debug("CDev init failed");
debug("VDev init failed");
goto out;
}
@ -505,7 +505,7 @@ MS5611::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
/* give it to the bus-specific superclass */
// return bus_ioctl(filp, cmd, arg);
return CDev::ioctl(handlep, cmd, arg);
return VDev::ioctl(handlep, cmd, arg);
}
void

2
src/modules/mavlink/mavlink_main_linux.cpp
View File

@ -110,7 +110,7 @@ extern mavlink_system_t mavlink_system;
static void usage(void);
Mavlink::Mavlink() :
CDev("mavlink-log", MAVLINK_LOG_DEVICE),
VDev("mavlink-log", MAVLINK_LOG_DEVICE),
_device_name(DEFAULT_DEVICE_NAME),
_task_should_exit(false),
next(nullptr),

2
src/modules/mavlink/mavlink_main_linux.h
View File

@ -61,7 +61,7 @@
#include "mavlink_mission.h"
#include "mavlink_parameters.h"
class Mavlink : public device::CDev
class Mavlink : public device::VDev
{
public:

22
src/modules/uORB/MuORB.cpp
View File

@ -114,7 +114,7 @@ node_mkpath(char *buf, Flavor f, const struct orb_metadata *meta, int *instance
/**
* Per-object device instance.
*/
class ORBDevNode : public device::CDev
class ORBDevNode : public device::VDev
{
public:
ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path, int priority);
@ -188,7 +188,7 @@ ORBDevNode::SubscriberData *ORBDevNode::handlep_to_sd(device::px4_dev_handle_t *
}
ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path, int priority) :
CDev(name, path),
VDev(name, path),
_meta(meta),
_data(nullptr),
_last_update(0),
@ -230,7 +230,7 @@ ORBDevNode::open(device::px4_dev_handle_t *handlep)
/* now complete the open */
if (ret == PX4_OK) {
ret = CDev::open(handlep);
ret = VDev::open(handlep);
/* open failed - not the publisher anymore */
if (ret != PX4_OK)
@ -259,10 +259,10 @@ ORBDevNode::open(device::px4_dev_handle_t *handlep)
handlep->priv = (void *)sd;
ret = CDev::open(handlep);
ret = VDev::open(handlep);
if (ret != PX4_OK) {
PX4_DEBUG("ERROR: CDev::open failed\n");
PX4_DEBUG("ERROR: VDev::open failed\n");
delete sd;
}
@ -292,7 +292,7 @@ ORBDevNode::close(device::px4_dev_handle_t *handlep)
}
}
return CDev::close(handlep);
return VDev::close(handlep);
}
ssize_t
@ -412,7 +412,7 @@ ORBDevNode::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
default:
/* give it to the superclass */
return CDev::ioctl(handlep, cmd, arg);
return VDev::ioctl(handlep, cmd, arg);
}
}
@ -468,7 +468,7 @@ ORBDevNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
* If the topic looks updated to the subscriber, go ahead and notify them.
*/
if (appears_updated(sd))
CDev::poll_notify_one(fds, events);
VDev::poll_notify_one(fds, events);
}
bool
@ -569,7 +569,7 @@ ORBDevNode::update_deferred_trampoline(void *arg)
* Used primarily to create new objects via the ORBIOCCREATE
* ioctl.
*/
class ORBDevMaster : public device::CDev
class ORBDevMaster : public device::VDev
{
public:
ORBDevMaster(Flavor f);
@ -581,7 +581,7 @@ private:
};
ORBDevMaster::ORBDevMaster(Flavor f) :
CDev((f == PUBSUB) ? "obj_master" : "param_master",
VDev((f == PUBSUB) ? "obj_master" : "param_master",
(f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
_flavor(f)
{
@ -688,7 +688,7 @@ ORBDevMaster::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long ar
default:
/* give it to the superclass */
return CDev::ioctl(handlep, cmd, arg);
return VDev::ioctl(handlep, cmd, arg);
}
}