Linux: changed CDev to VDev for virtual device implementation

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>

src/drivers/device/device.h

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

src/drivers/device/i2c_linux.cpp

@@ -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);
 	}
 }
 

src/drivers/device/i2c_linux.h

@@ -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&);

src/drivers/device/spi.h

@@ -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:
 	/**

src/drivers/device/vdev.cpp

@@ -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;

src/drivers/device/vdev.h

@@ -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&);
+	VDev(const VDev&);
-	CDev operator=(const CDev&);
+	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
 

src/drivers/device/vdev_posix.cpp

@@ -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);;
+			VDev *dev = (VDev *)(filemap[fds[i].fd]->cdev);;
-			PX4_DEBUG("px4_poll: CDev->poll(setup) %d\n", fds[i].fd);
+			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);;
+				VDev *dev = (VDev *)(filemap[fds[i].fd]->cdev);;
-				PX4_DEBUG("px4_poll: CDev->poll(teardown) %d\n", fds[i].fd);
+				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)

src/drivers/ms5611/ms5611_linux.cpp

@@ -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

src/modules/mavlink/mavlink_main_linux.cpp

@@ -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),

src/modules/mavlink/mavlink_main_linux.h

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

src/modules/uORB/MuORB.cpp

@@ -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);
 	}
 }