Changed device::px4_device_handle_t to device::file_t

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

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/platforms/posix/drivers/accelsim/accelsim.cpp

@@ -100,8 +100,8 @@ public:
 
 	virtual int		init();
 
-	virtual ssize_t		read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
-	virtual int		ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Diagnostics - print some basic information about the driver.
@@ -116,8 +116,8 @@ public:
 protected:
 	friend class 		ACCELSIM_mag;
 
-	virtual ssize_t		mag_read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
-	virtual int		mag_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual ssize_t		mag_read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int		mag_ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	int			transfer(uint8_t *send, uint8_t *recv, unsigned len);
 private:
@@ -325,8 +325,8 @@ public:
 	ACCELSIM_mag(ACCELSIM *parent);
 	~ACCELSIM_mag();
 
-	virtual ssize_t			read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
-	virtual int			ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual ssize_t			read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	virtual int			init();
 
@@ -516,7 +516,7 @@ ACCELSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 }
 
 ssize_t
-ACCELSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+ACCELSIM::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(struct accel_report);
 	accel_report *arb = reinterpret_cast<accel_report *>(buffer);
@@ -553,7 +553,7 @@ ACCELSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
 }
 
 ssize_t
-ACCELSIM::mag_read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+ACCELSIM::mag_read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(struct mag_report);
 	mag_report *mrb = reinterpret_cast<mag_report *>(buffer);
@@ -592,7 +592,7 @@ ACCELSIM::mag_read(device::px4_dev_handle_t *handlep, char *buffer, size_t bufle
 }
 
 int
-ACCELSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+ACCELSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -614,10 +614,10 @@ ACCELSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
 
 			/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
-				return ioctl(handlep, SENSORIOCSPOLLRATE, 1600);
+				return ioctl(filp, SENSORIOCSPOLLRATE, 1600);
 
 			case SENSOR_POLLRATE_DEFAULT:
-				return ioctl(handlep, SENSORIOCSPOLLRATE, ACCELSIM_ACCEL_DEFAULT_RATE);
+				return ioctl(filp, SENSORIOCSPOLLRATE, ACCELSIM_ACCEL_DEFAULT_RATE);
 
 				/* adjust to a legal polling interval in Hz */
 			default: {
@@ -712,12 +712,12 @@ ACCELSIM::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);
 	}
 }
 
 int
-ACCELSIM::mag_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -741,7 +741,7 @@ ACCELSIM::mag_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long ar
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT:
 				/* 100 Hz is max for mag */
-				return mag_ioctl(handlep, SENSORIOCSPOLLRATE, 100);
+				return mag_ioctl(filp, SENSORIOCSPOLLRATE, 100);
 
 			/* adjust to a legal polling interval in Hz */
 			default: {
@@ -831,7 +831,7 @@ ACCELSIM::mag_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long ar
 		return OK;
 	default:
 		/* give it to the superclass */
-		return VDev::ioctl(handlep, cmd, arg);
+		return VDev::ioctl(filp, cmd, arg);
 	}
 }
 
@@ -1209,20 +1209,20 @@ ACCELSIM_mag::parent_poll_notify()
 }
 
 ssize_t
-ACCELSIM_mag::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+ACCELSIM_mag::read(device::file_t *filp, char *buffer, size_t buflen)
 {
-	return _parent->mag_read(handlep, buffer, buflen);
+	return _parent->mag_read(filp, buffer, buflen);
 }
 
 int
-ACCELSIM_mag::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+ACCELSIM_mag::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 		case DEVIOCGDEVICEID:
-			return (int)VDev::ioctl(handlep, cmd, arg);
+			return (int)VDev::ioctl(filp, cmd, arg);
 			break;
 		default:
-			return _parent->mag_ioctl(handlep, cmd, arg);
+			return _parent->mag_ioctl(filp, cmd, arg);
 	}
 }
 

src/platforms/posix/drivers/adcsim/adcsim.cpp

@@ -74,12 +74,12 @@ public:
 
 	virtual int		init();
 
-	virtual int		ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
-	virtual ssize_t		read(device::px4_dev_handle_t *handlep, char *buffer, size_t len);
+	virtual int		ioctl(device::file_t *filp, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t len);
 
 protected:
-	virtual int		open_first(device::px4_dev_handle_t *handlep);
-	virtual int		close_last(device::px4_dev_handle_t *handlep);
+	virtual int		open_first(device::file_t *filp);
+	virtual int		close_last(device::file_t *filp);
 
 private:
 	static const hrt_abstime _tickrate = 10000;	/**< 100Hz base rate */
@@ -157,13 +157,13 @@ ADCSIM::init()
 }
 
 int
-ADCSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+ADCSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	return -ENOTTY;
 }
 
 ssize_t
-ADCSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t len)
+ADCSIM::read(device::file_t *filp, char *buffer, size_t len)
 {
 	const size_t maxsize = sizeof(adc_msg_s) * _channel_count;
 
@@ -177,7 +177,7 @@ ADCSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t len)
 }
 
 int
-ADCSIM::open_first(device::px4_dev_handle_t *handlep)
+ADCSIM::open_first(device::file_t *filp)
 {
 	/* get fresh data */
 	_tick();
@@ -189,7 +189,7 @@ ADCSIM::open_first(device::px4_dev_handle_t *handlep)
 }
 
 int
-ADCSIM::close_last(device::px4_dev_handle_t *handlep)
+ADCSIM::close_last(device::file_t *filp)
 {
 	hrt_cancel(&_call);
 	return 0;

src/platforms/posix/drivers/barosim/baro.cpp

@@ -100,8 +100,8 @@ public:
 
 	virtual int		init();
 
-	virtual ssize_t		read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
-	virtual int		ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Diagnostics - print some basic information about the driver.
@@ -327,7 +327,7 @@ out:
 }
 
 ssize_t
-BAROSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+BAROSIM::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(struct baro_report);
 	struct baro_report *brp = reinterpret_cast<struct baro_report *>(buffer);
@@ -397,7 +397,7 @@ BAROSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
 }
 
 int
-BAROSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+BAROSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -502,7 +502,7 @@ BAROSIM::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 VDev::ioctl(handlep, cmd, arg);
+	return VDev::ioctl(filp, cmd, arg);
 }
 
 void

src/platforms/posix/drivers/gyrosim/gyrosim.cpp

@@ -197,8 +197,8 @@ public:
 
 	virtual int		init();
 
-	virtual ssize_t		read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
-	virtual int		ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(device::file_t *filp, int cmd, unsigned long arg);
 	int			transfer(uint8_t *send, uint8_t *recv, unsigned len);
 
 	/**
@@ -211,8 +211,8 @@ public:
 protected:
 	friend class GYROSIM_gyro;
 
-	virtual ssize_t		gyro_read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
-	virtual int		gyro_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual ssize_t		gyro_read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int		gyro_ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 private:
 	GYROSIM_gyro		*_gyro;
@@ -438,8 +438,8 @@ public:
 	GYROSIM_gyro(GYROSIM *parent, const char *path);
 	~GYROSIM_gyro();
 
-	virtual ssize_t		read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen);
-	virtual int		ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	virtual int		init();
 
@@ -733,7 +733,7 @@ GYROSIM::_set_dlpf_filter(uint16_t frequency_hz)
 }
 
 ssize_t
-GYROSIM::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+GYROSIM::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(accel_report);
 
@@ -856,7 +856,7 @@ GYROSIM::gyro_self_test()
 }
 
 ssize_t
-GYROSIM::gyro_read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+GYROSIM::gyro_read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(gyro_report);
 
@@ -891,7 +891,7 @@ GYROSIM::gyro_read(device::px4_dev_handle_t *handlep, char *buffer, size_t bufle
 }
 
 int
-GYROSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+GYROSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -916,10 +916,10 @@ GYROSIM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
 
 				/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
-				return ioctl(handlep, SENSORIOCSPOLLRATE, 1000);
+				return ioctl(filp, SENSORIOCSPOLLRATE, 1000);
 
 			case SENSOR_POLLRATE_DEFAULT:
-				return ioctl(handlep, SENSORIOCSPOLLRATE, GYROSIM_ACCEL_DEFAULT_RATE);
+				return ioctl(filp, SENSORIOCSPOLLRATE, GYROSIM_ACCEL_DEFAULT_RATE);
 
 				/* adjust to a legal polling interval in Hz */
 			default: {
@@ -1030,12 +1030,12 @@ GYROSIM::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);
 	}
 }
 
 int
-GYROSIM::gyro_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+GYROSIM::gyro_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -1043,7 +1043,7 @@ GYROSIM::gyro_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long ar
 	case SENSORIOCSPOLLRATE:
 	case SENSORIOCGPOLLRATE:
 	case SENSORIOCRESET:
-		return ioctl(handlep, cmd, arg);
+		return ioctl(filp, cmd, arg);
 
 	case SENSORIOCSQUEUEDEPTH: {
 		/* lower bound is mandatory, upper bound is a sanity check */
@@ -1101,7 +1101,7 @@ GYROSIM::gyro_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);
 	}
 }
 
@@ -1578,21 +1578,21 @@ GYROSIM_gyro::parent_poll_notify()
 }
 
 ssize_t
-GYROSIM_gyro::read(device::px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+GYROSIM_gyro::read(device::file_t *filp, char *buffer, size_t buflen)
 {
-	return _parent->gyro_read(handlep, buffer, buflen);
+	return _parent->gyro_read(filp, buffer, buflen);
 }
 
 int
-GYROSIM_gyro::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+GYROSIM_gyro::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 
 	switch (cmd) {
 		case DEVIOCGDEVICEID:
-			return (int)VDev::ioctl(handlep, cmd, arg);
+			return (int)VDev::ioctl(filp, cmd, arg);
 			break;
 		default:
-			return _parent->gyro_ioctl(handlep, cmd, arg);
+			return _parent->gyro_ioctl(filp, cmd, arg);
 	}
 }
 

src/platforms/px4_posix.h

@@ -46,24 +46,30 @@
 #include <poll.h>
 #include <semaphore.h>
 
+#define  PX4_F_RDONLY 1
+#define  PX4_F_WRONLY 2
+
+#ifdef __PX4_NUTTX
+
+typedef struct pollfd px4_pollfd_struct_t;
+
+#if defined(__cplusplus)
+#define _GLOBAL ::
+#else
+#define _GLOBAL 
+#endif
+#define px4_open 	_GLOBAL open
+#define px4_close 	_GLOBAL close
+#define px4_ioctl 	_GLOBAL ioctl
+#define px4_write 	_GLOBAL write
+#define px4_read 	_GLOBAL read
+#define px4_poll 	_GLOBAL poll
+
+#elif defined(__PX4_POSIX)
 
 #define  PX4_F_RDONLY 1
 #define  PX4_F_WRONLY 2
 
-#define PX4_DEBUG(...)
-//#define PX4_DEBUG(...) printf(__VA_ARGS__)
-
-#ifdef __PX4_NUTTX
-
-#define px4_pollfd_struct_t struct pollfd
-#define px4_open 	open
-#define px4_close 	close
-#define px4_ioctl 	ioctl
-#define px4_write 	write
-#define px4_read 	read
-#define px4_poll 	poll
-
-#else
 typedef short pollevent_t;
 
 typedef struct {
@@ -87,7 +93,10 @@ __EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
 __EXPORT int		px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
 
 __END_DECLS
+#else
+#error "No TARGET OS Provided"
 #endif
+
 __BEGIN_DECLS
 extern int px4_errno;