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DriverFramework purge

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The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.

 - DriverFramework (src/lib/DriverFramework submodule) completely removed
 - added dspal submodule in qurt platform (was brought in via DriverFramework)
 - all df wrapper drivers removed
 - all boards using df wrapper drivers updated to use in tree equivalents
 - unused empty arch/board.h on posix and qurt removed
 - unused IOCTLs removed (pub block, priv, etc)
 - Integrator delete methods only used from df wrapper drivers
 - commander: sensor calibration use "NuttX version" everywhere for now
 - sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
 - load_mon and top remove from linux boards (unused)
 - delete unused PX4_MAIN_FUNCTION
 - delete unused getreg32 macro
 - delete unused SIOCDEVPRIVATE define
 - named each platform tasks consistently
 - posix list_devices and list_topics removed (list_files now shows all virtual files)
This commit is contained in:
Daniel Agar
2020-01-13 14:07:03 -05:00
parent 04ba05f5a0
commit de4f594937
165 changed files with 285 additions and 8108 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/cdev/CDev.cpp
+2 -23
View File
@@ -188,27 +188,6 @@ CDev::close(file_t *filep)
return ret;
}
int
CDev::ioctl(file_t *filep, int cmd, unsigned long arg)
{
PX4_DEBUG("CDev::ioctl");
int ret = -ENOTTY;
switch (cmd) {
/* fetch a pointer to the driver's private data */
case DIOC_GETPRIV:
*(void **)(uintptr_t)arg = (void *)this;
ret = PX4_OK;
break;
default:
break;
}
return ret;
}
int
CDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
{
@@ -327,7 +306,7 @@ CDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
}
void
CDev::poll_notify(pollevent_t events)
CDev::poll_notify(px4_pollevent_t events)
{
PX4_DEBUG("CDev::poll_notify events = %0x", events);
@@ -344,7 +323,7 @@ CDev::poll_notify(pollevent_t events)
}
void
CDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
CDev::poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t events)
{
PX4_DEBUG("CDev::poll_notify_one");
src/lib/cdev/CDev.hpp
+6 -6
View File
@@ -137,8 +137,8 @@ public:
/**
* Perform an ioctl operation on the device.
*
* The default implementation handles DIOC_GETPRIV, and otherwise
* returns -ENOTTY. Subclasses should call the default implementation
* The default implementation returns -ENOTTY.
* Subclasses should call the default implementation
* for any command they do not handle themselves.
*
* @param filep Pointer to the NuttX file structure.
@@ -146,7 +146,7 @@ public:
* @param arg The ioctl argument value.
* @return OK on success, or -errno otherwise.
*/
virtual int ioctl(file_t *filep, int cmd, unsigned long arg);
virtual int ioctl(file_t *filep, int cmd, unsigned long arg) { return -ENOTTY; };
/**
* Perform a poll setup/teardown operation.
@@ -187,7 +187,7 @@ protected:
* @param filep The file that's interested.
* @return The current set of poll events.
*/
virtual pollevent_t poll_state(file_t *filep) { return 0; }
virtual px4_pollevent_t poll_state(file_t *filep) { return 0; }
/**
* Report new poll events.
@@ -197,7 +197,7 @@ protected:
*
* @param events The new event(s) being announced.
*/
virtual void poll_notify(pollevent_t events);
virtual void poll_notify(px4_pollevent_t events);
/**
* Internal implementation of poll_notify.
@@ -205,7 +205,7 @@ protected:
* @param fds A poll waiter to notify.
* @param events The event(s) to send to the waiter.
*/
virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
virtual void poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t events);
/**
* Notification of the first open.
src/lib/cdev/posix/cdev_platform.cpp
+4 -70
View File
@@ -44,10 +44,7 @@
#include <px4_platform_common/posix.h>
#include <px4_platform_common/time.h>
#include "DevMgr.hpp"
using namespace std;
using namespace DriverFramework;
const cdev::px4_file_operations_t cdev::CDev::fops = {};
@@ -60,8 +57,6 @@ static cdev::file_t filemap[PX4_MAX_FD] = {};
extern "C" {
int px4_errno;
static cdev::CDev *getDev(const char *path)
{
PX4_DEBUG("CDev::getDev");
@@ -233,7 +228,6 @@ extern "C" {
}
if (ret < 0) {
px4_errno = -ret;
ret = PX4_ERROR;
}
@@ -255,7 +249,6 @@ extern "C" {
}
if (ret < 0) {
px4_errno = -ret;
ret = PX4_ERROR;
}
@@ -277,7 +270,6 @@ extern "C" {
}
if (ret < 0) {
px4_errno = -ret;
ret = PX4_ERROR;
}
@@ -298,14 +290,10 @@ extern "C" {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
return ret;
}
int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
int px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout)
{
if (nfds == 0) {
PX4_WARN("px4_poll with no fds");
@@ -315,7 +303,6 @@ extern "C" {
px4_sem_t sem;
int count = 0;
int ret = -1;
unsigned int i;
const unsigned NAMELEN = 32;
char thread_name[NAMELEN] = {};
@@ -339,7 +326,7 @@ extern "C" {
// Go through all fds and check them for a pollable state
bool fd_pollable = false;
for (i = 0; i < nfds; ++i) {
for (unsigned int i = 0; i < nfds; ++i) {
fds[i].sem = &sem;
fds[i].revents = 0;
fds[i].priv = nullptr;
@@ -393,7 +380,7 @@ extern "C" {
// We have waited now (or not, depending on timeout),
// go through all fds and count how many have data
for (i = 0; i < nfds; ++i) {
for (unsigned int i = 0; i < nfds; ++i) {
cdev::CDev *dev = get_vdev(fds[i].fd);
@@ -421,11 +408,6 @@ extern "C" {
return (count) ? count : ret;
}
int px4_fsync(int fd)
{
return 0;
}
int px4_access(const char *pathname, int mode)
{
if (mode != F_OK) {
@@ -437,51 +419,6 @@ extern "C" {
return (dev != nullptr) ? 0 : -1;
}
void px4_show_devices()
{
int i = 0;
PX4_INFO("PX4 Devices:");
pthread_mutex_lock(&devmutex);
for (const auto &dev : devmap) {
if (strncmp(dev.first.c_str(), "/dev/", 5) == 0) {
PX4_INFO(" %s", dev.first.c_str());
}
}
pthread_mutex_unlock(&devmutex);
PX4_INFO("DF Devices:");
const char *dev_path;
unsigned int index = 0;
i = 0;
do {
// Each look increments index and returns -1 if end reached
i = DevMgr::getNextDeviceName(index, &dev_path);
if (i == 0) {
PX4_INFO(" %s", dev_path);
}
} while (i == 0);
}
void px4_show_topics()
{
PX4_INFO("Devices:");
pthread_mutex_lock(&devmutex);
for (const auto &dev : devmap) {
if (strncmp(dev.first.c_str(), "/obj/", 5) == 0) {
PX4_INFO(" %s", dev.first.c_str());
}
}
pthread_mutex_unlock(&devmutex);
}
void px4_show_files()
{
PX4_INFO("Files:");
@@ -489,10 +426,7 @@ extern "C" {
pthread_mutex_lock(&devmutex);
for (const auto &dev : devmap) {
if (strncmp(dev.first.c_str(), "/obj/", 5) != 0 &&
strncmp(dev.first.c_str(), "/dev/", 5) != 0) {
PX4_INFO(" %s", dev.first.c_str());
}
PX4_INFO_RAW(" %s\n", dev.first.c_str());
}
pthread_mutex_unlock(&devmutex);