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Changed device::px4_device_handle_t to device::file_t

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This change allowed the _posix.cpp file changes to be merged
back into the original files.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-24 17:49:35 -07:00
parent 20d35e33da
commit d913ec8dc9
28 changed files with 600 additions and 1327 deletions
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src/modules/uORB/MuORB.cpp
+48 -54
View File
@@ -121,16 +121,16 @@ public:
ORBDevNode(const struct orb_metadata *meta, const char *name, const char *path, int priority);
~ORBDevNode();
virtual int open(device::px4_dev_handle_t *handlep);
virtual int close(device::px4_dev_handle_t *handlep);
virtual ssize_t read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
virtual ssize_t write(device::px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
virtual int open(device::file_t *filp);
virtual int close(device::file_t *filp);
virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
virtual ssize_t write(device::file_t *filp, const char *buffer, size_t buflen);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
static ssize_t publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
protected:
virtual pollevent_t poll_state(device::px4_dev_handle_t *handlep);
virtual pollevent_t poll_state(device::file_t *filp);
virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
private:
@@ -150,7 +150,7 @@ private:
pid_t _publisher; /**< if nonzero, current publisher */
const int _priority; /**< priority of topic */
SubscriberData *handlep_to_sd(device::px4_dev_handle_t *handlep);
SubscriberData *filp_to_sd(device::file_t *filp);
/**
* Perform a deferred update for a rate-limited subscriber.
@@ -173,16 +173,13 @@ private:
bool appears_updated(SubscriberData *sd);
};
ORBDevNode::SubscriberData *ORBDevNode::handlep_to_sd(device::px4_dev_handle_t *handlep)
ORBDevNode::SubscriberData *ORBDevNode::filp_to_sd(device::file_t *filp)
{
PX4_DEBUG("ORBDevNode::handlep_to_sd %p\n", handlep);
ORBDevNode::SubscriberData *sd;
if (handlep) {
sd = (ORBDevNode::SubscriberData *)(handlep->priv);
PX4_DEBUG(" sd = %p \n", sd);
if (filp) {
sd = (ORBDevNode::SubscriberData *)(filp->priv);
}
else {
PX4_DEBUG("*** ERROR ORBDevNode::handlep_to_sd(0)\n");
sd = 0;
}
return sd;
@@ -209,12 +206,12 @@ ORBDevNode::~ORBDevNode()
}
int
ORBDevNode::open(device::px4_dev_handle_t *handlep)
ORBDevNode::open(device::file_t *filp)
{
int ret;
/* is this a publisher? */
if (handlep->flags == PX4_F_WRONLY) {
if (filp->flags == PX4_F_WRONLY) {
/* become the publisher if we can */
lock();
@@ -231,7 +228,7 @@ ORBDevNode::open(device::px4_dev_handle_t *handlep)
/* now complete the open */
if (ret == PX4_OK) {
ret = VDev::open(handlep);
ret = VDev::open(filp);
/* open failed - not the publisher anymore */
if (ret != PX4_OK)
@@ -242,7 +239,7 @@ ORBDevNode::open(device::px4_dev_handle_t *handlep)
}
/* is this a new subscriber? */
if (handlep->flags == PX4_F_RDONLY) {
if (filp->flags == PX4_F_RDONLY) {
/* allocate subscriber data */
SubscriberData *sd = new SubscriberData;
@@ -258,16 +255,16 @@ ORBDevNode::open(device::px4_dev_handle_t *handlep)
/* set priority */
sd->priority = _priority;
handlep->priv = (void *)sd;
filp->priv = (void *)sd;
ret = VDev::open(handlep);
ret = VDev::open(filp);
if (ret != PX4_OK) {
PX4_DEBUG("ERROR: VDev::open failed\n");
warnx("ERROR: VDev::open failed\n");
delete sd;
}
PX4_DEBUG("ORBDevNode::Open: fd = %d flags = %d, priv = %p cdev = %p\n", handlep->fd, handlep->flags, handlep->priv, handlep->cdev);
//warnx("ORBDevNode::Open: fd = %d flags = %d, priv = %p cdev = %p\n", filp->fd, filp->flags, filp->priv, filp->cdev);
return ret;
}
@@ -276,31 +273,30 @@ ORBDevNode::open(device::px4_dev_handle_t *handlep)
}
int
ORBDevNode::close(device::px4_dev_handle_t *handlep)
ORBDevNode::close(device::file_t *filp)
{
PX4_DEBUG("ORBDevNode::close fd = %d\n", handlep->fd);
//warnx("ORBDevNode::close fd = %d", filp->fd);
/* is this the publisher closing? */
if (getpid() == _publisher) {
_publisher = 0;
} else {
SubscriberData *sd = handlep_to_sd(handlep);
SubscriberData *sd = filp_to_sd(filp);
if (sd != nullptr) {
PX4_DEBUG(" delete handlep->priv %p", handlep->priv);
hrt_cancel(&sd->update_call);
delete sd;
}
}
return VDev::close(handlep);
return VDev::close(filp);
}
ssize_t
ORBDevNode::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
ORBDevNode::read(device::file_t *filp, char *buffer, size_t buflen)
{
PX4_DEBUG("ORBDevNode::read fd = %d\n", handlep->fd);
SubscriberData *sd = (SubscriberData *)handlep_to_sd(handlep);
//warnx("ORBDevNode::read fd = %d\n", filp->fd);
SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
/* if the object has not been written yet, return zero */
if (_data == nullptr)
@@ -338,9 +334,9 @@ ORBDevNode::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
}
ssize_t
ORBDevNode::write(device::px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
ORBDevNode::write(device::file_t *filp, const char *buffer, size_t buflen)
{
PX4_DEBUG("ORBDevNode::write handlep = %p (null is normal)\n", handlep);
//warnx("ORBDevNode::write filp = %p (null is normal)", filp);
/*
* Writes are legal from interrupt context as long as the
* object has already been initialised from thread context.
@@ -348,7 +344,7 @@ ORBDevNode::write(device::px4_dev_handle_t *handlep, const char *buffer, size_t
* Writes outside interrupt context will allocate the object
* if it has not yet been allocated.
*
* Note that handlep will usually be NULL.
* Note that filp will usually be NULL.
*/
if (nullptr == _data) {
lock();
@@ -385,10 +381,10 @@ ORBDevNode::write(device::px4_dev_handle_t *handlep, const char *buffer, size_t
}
int
ORBDevNode::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
ORBDevNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
PX4_DEBUG("ORBDevNode::ioctl fd = %d cmd = %d\n", handlep->fd, cmd);
SubscriberData *sd = handlep_to_sd(handlep);
//warnx("ORBDevNode::ioctl fd = %d cmd = %d", filp->fd, cmd);
SubscriberData *sd = filp_to_sd(filp);
switch (cmd) {
case ORBIOCLASTUPDATE:
@@ -413,17 +409,17 @@ ORBDevNode::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
default:
/* give it to the superclass */
return VDev::ioctl(handlep, cmd, arg);
return VDev::ioctl(filp, cmd, arg);
}
}
ssize_t
ORBDevNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *data)
{
PX4_DEBUG("ORBDevNode::publish meta = %p\n", meta);
//warnx("ORBDevNode::publish meta = %p", meta);
if (handle < 0) {
PX4_DEBUG("ORBDevNode::publish called with invalid handle\n", meta);
warnx("ORBDevNode::publish called with invalid handle");
errno = EINVAL;
return ERROR;
}
@@ -452,10 +448,10 @@ ORBDevNode::publish(const orb_metadata *meta, orb_advert_t handle, const void *d
}
pollevent_t
ORBDevNode::poll_state(device::px4_dev_handle_t *handlep)
ORBDevNode::poll_state(device::file_t *filp)
{
PX4_DEBUG("ORBDevNode::poll_state fd = %d\n", handlep->fd);
SubscriberData *sd = handlep_to_sd(handlep);
//warnx("ORBDevNode::poll_state fd = %d", filp->fd);
SubscriberData *sd = filp_to_sd(filp);
/*
* If the topic appears updated to the subscriber, say so.
@@ -469,8 +465,8 @@ ORBDevNode::poll_state(device::px4_dev_handle_t *handlep)
void
ORBDevNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
{
PX4_DEBUG("ORBDevNode::poll_notify_one fds = %p fds->priv = %p\n", fds, fds->priv);
SubscriberData *sd = handlep_to_sd((device::px4_dev_handle_t *)fds->priv);
//warnx("ORBDevNode::poll_notify_one fds = %p fds->priv = %p", fds, fds->priv);
SubscriberData *sd = filp_to_sd((device::file_t *)fds->priv);
/*
* If the topic looks updated to the subscriber, go ahead and notify them.
@@ -482,7 +478,7 @@ ORBDevNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
bool
ORBDevNode::appears_updated(SubscriberData *sd)
{
PX4_DEBUG("ORBDevNode::appears_updated sd = %p\n", sd);
//warnx("ORBDevNode::appears_updated sd = %p", sd);
/* assume it doesn't look updated */
bool ret = false;
@@ -583,7 +579,7 @@ public:
ORBDevMaster(Flavor f);
~ORBDevMaster();
virtual int ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
private:
Flavor _flavor;
};
@@ -603,7 +599,7 @@ ORBDevMaster::~ORBDevMaster()
}
int
ORBDevMaster::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
ORBDevMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
int ret;
@@ -696,7 +692,7 @@ ORBDevMaster::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long ar
default:
/* give it to the superclass */
return VDev::ioctl(handlep, cmd, arg);
return VDev::ioctl(filp, cmd, arg);
}
}
@@ -1242,7 +1238,7 @@ node_open(Flavor f, const struct orb_metadata *meta, const void *data, bool adve
orb_advert_t
orb_advertise(const struct orb_metadata *meta, const void *data)
{
PX4_DEBUG("orb_advertise meta = %p\n", meta);
//warnx("orb_advertise meta = %p", meta);
return orb_advertise_multi(meta, data, nullptr, ORB_PRIO_DEFAULT);
}
@@ -1252,29 +1248,27 @@ orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *inst
int result, fd;
orb_advert_t advertiser;
PX4_DEBUG("orb_advertise_multi meta = %p\n", meta);
//warnx("orb_advertise_multi meta = %p\n", meta);
/* open the node as an advertiser */
fd = node_open(PUBSUB, meta, data, true, instance, priority);
if (fd == ERROR) {
PX4_DEBUG(" node_open as advertiser failed.\n");
warnx("node_open as advertiser failed.");
return ERROR;
}
PX4_DEBUG(" node_open as advertiser passed. fd = %d, instance = %p %d\n", fd, instance, instance != 0 ? *instance : 0);
/* get the advertiser handle and close the node */
result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
px4_close(fd);
if (result == ERROR) {
PX4_DEBUG(" px4_ioctl ORBIOCGADVERTISER failed. fd = %d\n", fd);
warnx("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
return ERROR;
}
/* the advertiser must perform an initial publish to initialise the object */
result = orb_publish(meta, advertiser, data);
if (result == ERROR) {
PX4_DEBUG(" orb_publish failed\n");
warnx("orb_publish failed");
return ERROR;
}