uORB move to standalone CDev

- uORB topics should not be Devices with bus, address, device id

src/lib/cdev/CDev.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -272,7 +272,7 @@ private:
 	bool		_registered{false};		/**< true if device name was registered */
 
 	uint8_t		_max_pollwaiters{0};		/**< size of the _pollset array */
-	uint8_t		_open_count{0};			/**< number of successful opens */
+	uint16_t	_open_count{0};			/**< number of successful opens */
 
 	/**
 	 * Store a pollwaiter in a slot where we can find it later.
@@ -281,14 +281,14 @@ private:
 	 *
 	 * @return		OK, or -errno on error.
 	 */
-	int		store_poll_waiter(px4_pollfd_struct_t *fds);
+	inline int	store_poll_waiter(px4_pollfd_struct_t *fds);
 
 	/**
 	 * Remove a poll waiter.
 	 *
 	 * @return		OK, or -errno on error.
 	 */
-	int		remove_poll_waiter(px4_pollfd_struct_t *fds);
+	inline int	remove_poll_waiter(px4_pollfd_struct_t *fds);
 
 	/* do not allow copying this class */
 	CDev(const CDev &);

src/modules/uORB/uORBCommon.hpp

@@ -34,7 +34,6 @@
 #ifndef _uORBCommon_hpp_
 #define _uORBCommon_hpp_
 
-#include <drivers/device/device.h>
 #include <drivers/drv_orb_dev.h>
 #include <systemlib/err.h>
 #include "uORB.h"
@@ -43,7 +42,7 @@
 
 namespace uORB
 {
-static const unsigned orb_maxpath = 64;
+static constexpr unsigned orb_maxpath = 64;
 
 struct orb_advertdata {
 	const struct orb_metadata *meta;

src/modules/uORB/uORBDeviceMaster.cpp

@@ -61,16 +61,14 @@
 	UNUSED(node_name_str);
 #endif
 
-using namespace device;
-
 uORB::DeviceMaster::DeviceMaster() :
-	CDev("obj_master", TOPIC_MASTER_DEVICE_PATH)
+	CDev(TOPIC_MASTER_DEVICE_PATH)
 {
 	_last_statistics_output = hrt_absolute_time();
 }
 
 int
-uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
+uORB::DeviceMaster::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 {
 	int ret;
 
@@ -114,8 +112,6 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 					*(adv->instance) = group_tries;
 				}
 
-				const char *objname = meta->o_name; //no need for a copy, meta->o_name will never be freed or changed
-
 				/* driver wants a permanent copy of the path, so make one here */
 				const char *devpath = strdup(nodepath);
 
@@ -124,7 +120,7 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 				}
 
 				/* construct the new node */
-				uORB::DeviceNode *node = new uORB::DeviceNode(meta, objname, devpath, adv->priority);
+				uORB::DeviceNode *node = new uORB::DeviceNode(meta, devpath, adv->priority);
 
 				/* if we didn't get a device, that's bad */
 				if (node == nullptr) {

src/modules/uORB/uORBDeviceMaster.hpp

@@ -35,6 +35,7 @@
 
 #include <stdint.h>
 #include "uORBCommon.hpp"
+#include <lib/cdev/CDev.hpp>
 
 namespace uORB
 {
@@ -61,10 +62,10 @@ class Manager;
  * Used primarily to create new objects via the ORBIOCCREATE
  * ioctl.
  */
-class uORB::DeviceMaster : public device::CDev
+class uORB::DeviceMaster : public cdev::CDev
 {
 public:
-	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
+	virtual int   ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Public interface for getDeviceNodeLocked(). Takes care of synchronization.

src/modules/uORB/uORBDeviceNode.cpp

@@ -49,9 +49,7 @@
 #include "uORBCommunicator.hpp"
 #endif /* ORB_COMMUNICATOR */
 
-using namespace device;
+uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(cdev::file_t *filp)
-
-uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::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,
+uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *path, int priority, unsigned int queue_size) :
-			     int priority, unsigned int queue_size) :
+	CDev(path),
-	CDev(name, 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.

src/modules/uORB/uORBDeviceNode.hpp

@@ -46,23 +46,22 @@ class Manager;
 /**
  * Per-object device instance.
  */
-class uORB::DeviceNode : public device::CDev
+class uORB::DeviceNode : public cdev::CDev
 {
 public:
-	DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
+	DeviceNode(const struct orb_metadata *meta, const char *path, int priority, unsigned int queue_size = 1);
-		   int priority, unsigned int queue_size = 1);
 	~DeviceNode();
 
 	/**
 	 * Method to create a subscriber instance and return the struct
 	 * pointing to the subscriber as a file pointer.
 	 */
-	virtual int open(device::file_t *filp);
+	virtual int open(cdev::file_t *filp);
 
 	/**
 	 * Method to close a subscriber for this topic.
 	 */
-	virtual int   close(device::file_t *filp);
+	virtual int   close(cdev::file_t *filp);
 
 	/**
 	 * reads data from a subscriber node to the buffer provided.
@@ -75,7 +74,7 @@ public:
 	 * @return
 	 *   ssize_t the number of bytes read.
 	 */
-	virtual ssize_t   read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual ssize_t   read(cdev::file_t *filp, char *buffer, size_t buflen);
 
 	/**
 	 * writes the published data to the internal buffer to be read by
@@ -89,12 +88,12 @@ public:
 	 * @return ssize_t
 	 *   The number of bytes that are written
 	 */
-	virtual ssize_t   write(device::file_t *filp, const char *buffer, size_t buflen);
+	virtual ssize_t   write(cdev::file_t *filp, const char *buffer, size_t buflen);
 
 	/**
 	 * IOCTL control for the subscriber.
 	 */
-	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
+	virtual int   ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Method to publish a data to this node.
@@ -177,7 +176,7 @@ public:
 	void set_priority(uint8_t priority) { _priority = priority; }
 
 protected:
-	virtual pollevent_t poll_state(device::file_t *filp);
+	virtual pollevent_t poll_state(cdev::file_t *filp);
 	virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
 
 private:
@@ -211,7 +210,7 @@ private:
 	uint8_t _queue_size; /**< maximum number of elements in the queue */
 	int8_t _subscriber_count{0};
 
-	inline static SubscriberData    *filp_to_sd(device::file_t *filp);
+	inline static SubscriberData    *filp_to_sd(cdev::file_t *filp);
 
 #ifdef __PX4_NUTTX
 	pid_t     _publisher {0}; /**< if nonzero, current publisher. Only used inside the advertise call.

src/modules/uORB/uORBManager.cpp

@@ -187,11 +187,8 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 
 #endif /* ORB_USE_PUBLISHER_RULES */
 
-	int result, fd;
-	orb_advert_t advertiser;
-
 	/* open the node as an advertiser */
-	fd = node_open(meta, data, true, instance, priority);
+	int fd = node_open(meta, data, true, instance, priority);
 
 	if (fd == PX4_ERROR) {
 		PX4_ERR("%s advertise failed", meta->o_name);
@@ -201,13 +198,15 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 	/* Set the queue size. This must be done before the first publication; thus it fails if
 	 * this is not the first advertiser.
 	 */
-	result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
+	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
 
 	if (result < 0 && queue_size > 1) {
 		PX4_WARN("orb_advertise_multi: failed to set queue size");
 	}
 
 	/* get the advertiser handle and close the node */
+	orb_advert_t advertiser;
+
 	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
 	px4_close(fd);
 
@@ -357,7 +356,8 @@ int uORB::Manager::node_open(const struct orb_metadata *meta, const void *data,
 			     int priority)
 {
 	char path[orb_maxpath];
-	int fd = -1, ret;
+	int fd = -1;
+	int ret = -1;
 
 	/*
 	 * If meta is null, the object was not defined, i.e. it is not

src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -38,6 +38,7 @@
 #include <stdio.h>
 #include <errno.h>
 #include <poll.h>
+#include <lib/cdev/CDev.hpp>
 
 ORB_DEFINE(orb_test, struct orb_test, sizeof(orb_test), "ORB_TEST:int val;hrt_abstime time;");
 ORB_DEFINE(orb_multitest, struct orb_test, sizeof(orb_test), "ORB_MULTITEST:int val;hrt_abstime time;");

src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp

@@ -43,14 +43,12 @@
 #include <px4_time.h>
 #include "vcdevtest_example.h"
 #include <drivers/drv_device.h>
-#include <drivers/device/device.h>
+#include <lib/cdev/CDev.hpp>
 #include <unistd.h>
 #include <stdio.h>
 
 px4::AppState VCDevExample::appState;
 
-using namespace device;
-
 #define TESTDEV "/dev/vdevtest"
 
 static bool g_exit = false;
@@ -99,27 +97,27 @@ public:
 	size_t _read_offset;
 };
 
-class VCDevNode : public CDev
+class VCDevNode : public cdev::CDev
 {
 public:
 	VCDevNode() :
-		CDev("vcdevtest", TESTDEV),
+		CDev(TESTDEV),
 		_is_open_for_write(false),
 		_write_offset(0) {}
 
 	~VCDevNode() = default;
 
-	virtual int open(device::file_t *handlep);
+	virtual int open(cdev::file_t *handlep);
-	virtual int close(device::file_t *handlep);
+	virtual int close(cdev::file_t *handlep);
-	virtual ssize_t write(device::file_t *handlep, const char *buffer, size_t buflen);
+	virtual ssize_t write(cdev::file_t *handlep, const char *buffer, size_t buflen);
-	virtual ssize_t read(device::file_t *handlep, char *buffer, size_t buflen);
+	virtual ssize_t read(cdev::file_t *handlep, char *buffer, size_t buflen);
 private:
 	bool _is_open_for_write;
 	size_t _write_offset;
 	char     _buf[1000];
 };
 
-int VCDevNode::open(device::file_t *handlep)
+int VCDevNode::open(cdev::file_t *handlep)
 {
 	// Only allow one writer
 	if (_is_open_for_write && (handlep->flags & PX4_F_WRONLY)) {
@@ -142,7 +140,7 @@ int VCDevNode::open(device::file_t *handlep)
 	return 0;
 }
 
-int VCDevNode::close(device::file_t *handlep)
+int VCDevNode::close(cdev::file_t *handlep)
 {
 	delete (PrivData *)handlep->priv;
 	handlep->priv = nullptr;
@@ -156,7 +154,7 @@ int VCDevNode::close(device::file_t *handlep)
 	return 0;
 }
 
-ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buflen)
+ssize_t VCDevNode::write(cdev::file_t *handlep, const char *buffer, size_t buflen)
 {
 	for (size_t i = 0; i < buflen && _write_offset < 1000; i++) {
 		_buf[_write_offset] = buffer[i];
@@ -169,7 +167,7 @@ ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buf
 	return buflen;
 }
 
-ssize_t VCDevNode::read(device::file_t *handlep, char *buffer, size_t buflen)
+ssize_t VCDevNode::read(cdev::file_t *handlep, char *buffer, size_t buflen)
 {
 	PrivData *p = (PrivData *)handlep->priv;
 	ssize_t chars_read = 0;
@@ -289,17 +287,7 @@ int VCDevExample::main()
 		return -px4_errno;
 	}
 
-	void *p = nullptr;
+	int ret = test_pub_block(fd, 1);
-	int ret = px4_ioctl(fd, DIOC_GETPRIV, (unsigned long)&p);
-
-	if (ret < 0) {
-		PX4_INFO("ioctl DIOC_GETPRIV failed %d %d", ret, px4_errno);
-		return -px4_errno;
-	}
-
-	PX4_INFO("priv data = %p %s", p, p == (void *)_node ? "PASS" : "FAIL");
-
-	ret = test_pub_block(fd, 1);
 
 	if (ret < 0) {
 		return ret;