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uORB move to standalone CDev

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- uORB topics should not be Devices with bus, address, device id
This commit is contained in:
Daniel Agar
2018-08-18 15:03:57 -04:00
parent a2f4757e31
commit dbf2d25e2f
9 changed files with 49 additions and 68 deletions
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src/modules/uORB/uORBDeviceNode.cpp
+10 -13
View File
@@ -49,9 +49,7 @@
#include "uORBCommunicator.hpp"
#endif /* ORB_COMMUNICATOR */
using namespace device;
uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *filp)
uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(cdev::file_t *filp)
{
#ifndef __PX4_NUTTX
@@ -63,9 +61,8 @@ uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *f
return (SubscriberData *)(FILE_PRIV(filp));
}
uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
int priority, unsigned int queue_size) :
CDev(name, path),
uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *path, int priority, unsigned int queue_size) :
CDev(path),
_meta(meta),
_priority((uint8_t)priority),
_queue_size(queue_size)
@@ -80,7 +77,7 @@ uORB::DeviceNode::~DeviceNode()
}
int
uORB::DeviceNode::open(device::file_t *filp)
uORB::DeviceNode::open(cdev::file_t *filp)
{
int ret;
@@ -152,7 +149,7 @@ uORB::DeviceNode::open(device::file_t *filp)
}
int
uORB::DeviceNode::close(device::file_t *filp)
uORB::DeviceNode::close(cdev::file_t *filp)
{
/* is this the publisher closing? */
if (px4_getpid() == _publisher) {
@@ -177,7 +174,7 @@ uORB::DeviceNode::close(device::file_t *filp)
}
ssize_t
uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
uORB::DeviceNode::read(cdev::file_t *filp, char *buffer, size_t buflen)
{
SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
@@ -233,7 +230,7 @@ uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
}
ssize_t
uORB::DeviceNode::write(device::file_t *filp, const char *buffer, size_t buflen)
uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
{
/*
* Writes are legal from interrupt context as long as the
@@ -301,7 +298,7 @@ uORB::DeviceNode::write(device::file_t *filp, const char *buffer, size_t buflen)
}
int
uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
SubscriberData *sd = filp_to_sd(filp);
@@ -493,7 +490,7 @@ int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, int prior
#endif /* ORB_COMMUNICATOR */
pollevent_t
uORB::DeviceNode::poll_state(device::file_t *filp)
uORB::DeviceNode::poll_state(cdev::file_t *filp)
{
SubscriberData *sd = filp_to_sd(filp);
@@ -510,7 +507,7 @@ uORB::DeviceNode::poll_state(device::file_t *filp)
void
uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
{
SubscriberData *sd = filp_to_sd((device::file_t *)fds->priv);
SubscriberData *sd = filp_to_sd((cdev::file_t *)fds->priv);
/*
* If the topic looks updated to the subscriber, go ahead and notify them.