uORB cleanup Subscription/Publication c++

src/modules/logger/logger.cpp

@@ -911,8 +911,7 @@ void Logger::run()
 
 			/* Check if parameters have changed */
 			// this needs to change to a timestamped record to record a history of parameter changes
-			if (parameter_update_sub.check_updated()) {
+			if (parameter_update_sub.update()) {
-				parameter_update_sub.update();
 				write_changed_parameters();
 			}
 

src/modules/uORB/Publication.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2017 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
@@ -42,54 +42,57 @@
 namespace uORB
 {
 
-PublicationBase::PublicationBase(const struct orb_metadata *meta,
+PublicationBase::PublicationBase(const struct orb_metadata *meta, int priority) :
-				 int priority) :
 	_meta(meta),
-	_priority(priority),
+	_priority(priority)
-	_instance(),
-	_handle(nullptr)
 {
 }
 
-void PublicationBase::update(void *data)
-{
-	if (_handle != nullptr) {
-		int ret = orb_publish(getMeta(), getHandle(), data);
-
-		if (ret != PX4_OK) { warnx("publish fail"); }
-
-	} else {
-		orb_advert_t handle;
-
-		if (_priority > 0) {
-			handle = orb_advertise_multi(
-					 getMeta(), data,
-					 &_instance, _priority);
-
-		} else {
-			handle = orb_advertise(getMeta(), data);
-		}
-
-		if (int64_t(handle) != PX4_ERROR) {
-			setHandle(handle);
-
-		} else {
-			warnx("advert fail");
-		}
-	}
-}
-
 PublicationBase::~PublicationBase()
 {
-	orb_unadvertise(getHandle());
+	orb_unadvertise(_handle);
 }
 
-PublicationNode::PublicationNode(const struct orb_metadata *meta,
+bool PublicationBase::update(void *data)
-				 int priority,
+{
-				 List<PublicationNode *> *list) :
+	bool updated = false;
+
+	if (_handle != nullptr) {
+		if (orb_publish(_meta, _handle, data) != PX4_OK) {
+			PX4_ERR("%s publish fail", _meta->o_name);
+
+		} else {
+			updated = true;
+		}
+
+	} else {
+		orb_advert_t handle = nullptr;
+
+		if (_priority > 0) {
+			handle = orb_advertise_multi(_meta, data, &_instance, _priority);
+
+		} else {
+			handle = orb_advertise(_meta, data);
+		}
+
+		if (handle != nullptr) {
+			_handle = handle;
+			updated = true;
+
+		} else {
+			PX4_ERR("%s advert fail", _meta->o_name);
+		}
+	}
+
+	return updated;
+}
+
+PublicationNode::PublicationNode(const struct orb_metadata *meta, int priority, List<PublicationNode *> *list) :
 	PublicationBase(meta, priority)
 {
-	if (list != nullptr) { list->add(this); }
+	if (list != nullptr) {
+		list->add(this);
+	}
 }
 
-}
+}  // namespace uORB

src/modules/uORB/Publication.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2017 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
@@ -32,14 +32,12 @@
  ****************************************************************************/
 
 /**
- * @file Publication.h
+ * @file Publication.hpp
  *
  */
 
 #pragma once
 
-#include <assert.h>
-
 #include <uORB/uORB.h>
 #include <containers/List.hpp>
 #include <systemlib/err.h>
@@ -63,35 +61,28 @@ public:
 	 * @param priority The priority for multi pub/sub, 0-based, -1 means
 	 * 	don't publish as multi
 	 */
-	PublicationBase(const struct orb_metadata *meta,
+	PublicationBase(const struct orb_metadata *meta, int priority = -1);
-			int priority = -1);
+
+	virtual ~PublicationBase();
+
+	// no copy, assignment, move, move assignment
+	PublicationBase(const PublicationBase &) = delete;
+	PublicationBase &operator=(const PublicationBase &) = delete;
+	PublicationBase(PublicationBase &&) = delete;
+	PublicationBase &operator=(PublicationBase &&) = delete;
 
 	/**
 	 * Update the struct
 	 * @param data The uORB message struct we are updating.
 	 */
-	void update(void *data);
+	bool update(void *data);
 
-	/**
-	 * Deconstructor
-	 */
-	virtual ~PublicationBase();
-
-// accessors
-	const struct orb_metadata *getMeta() { return _meta; }
-	orb_advert_t getHandle() { return _handle; }
 protected:
-	// disallow copy
-	PublicationBase(const PublicationBase &other);
-	// disallow assignment
-	PublicationBase &operator=(const PublicationBase &other);
-// accessors
-	void setHandle(orb_advert_t handle) { _handle = handle; }
-// attributes
 	const struct orb_metadata *_meta;
-	int _priority;
+	const int _priority;
-	int _instance;
+
-	orb_advert_t _handle;
+	int _instance{0};
+	orb_advert_t _handle{nullptr};
 };
 
 /**
@@ -103,9 +94,7 @@ typedef PublicationBase PublicationTiny;
 /**
  * The publication base class as a list node.
  */
-class __EXPORT PublicationNode :
+class __EXPORT PublicationNode : public PublicationBase, public ListNode<PublicationNode *>
-	public PublicationBase,
-	public ListNode<PublicationNode *>
 {
 public:
 	/**
@@ -118,20 +107,20 @@ public:
 	 * 	list during construction
 	 */
 	PublicationNode(const struct orb_metadata *meta, int priority = -1, List<PublicationNode *> *list = nullptr);
+	virtual ~PublicationNode() override = default;
 
 	/**
 	 * This function is the callback for list traversal
 	 * updates, a child class must implement it.
 	 */
-	virtual void update() = 0;
+	virtual bool update() = 0;
 };
 
 /**
  * Publication wrapper class
  */
 template<class T>
-class __EXPORT Publication :
+class __EXPORT Publication final : public PublicationNode
-	public PublicationNode
 {
 public:
 	/**
@@ -149,10 +138,13 @@ public:
 	{
 	}
 
-	/**
+	~Publication() override = default;
-	 * Deconstructor
+
-	 **/
+	// no copy, assignment, move, move assignment
-	virtual ~Publication() {};
+	Publication(const Publication &) = delete;
+	Publication &operator=(const Publication &) = delete;
+	Publication(Publication &&) = delete;
+	Publication &operator=(Publication &&) = delete;
 
 	/*
 	 * This function gets the T struct
@@ -162,10 +154,11 @@ public:
 	/**
 	 * Create an update function that uses the embedded struct.
 	 */
-	void update()
+	bool update() override
 	{
-		PublicationBase::update((void *)(&_data));
+		return PublicationBase::update((void *)(&_data));
 	}
+
 private:
 	T _data;
 };

src/modules/uORB/Subscription.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2017 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
@@ -42,51 +42,67 @@
 namespace uORB
 {
 
-SubscriptionBase::SubscriptionBase(const struct orb_metadata *meta,
+SubscriptionBase::SubscriptionBase(const struct orb_metadata *meta, unsigned interval, unsigned instance) :
-				   unsigned interval, unsigned instance) :
 	_meta(meta),
-	_instance(instance),
+	_instance(instance)
-	_handle()
 {
-	if (_instance > 0) {
+	if (instance > 0) {
-		_handle =  orb_subscribe_multi(
+		_handle = orb_subscribe_multi(_meta, instance);
-				   getMeta(), instance);
 
 	} else {
-		_handle =  orb_subscribe(getMeta());
+		_handle = orb_subscribe(_meta);
 	}
 
-	if (_handle < 0) { PX4_ERR("sub failed"); }
+	if (_handle < 0) {
+		PX4_ERR("%s sub failed", _meta->o_name);
+	}
 
 	if (interval > 0) {
-		orb_set_interval(getHandle(), interval);
+		orb_set_interval(_handle, interval);
 	}
 }
 
 bool SubscriptionBase::updated()
 {
 	bool isUpdated = false;
-	int ret = orb_check(_handle, &isUpdated);
 
-	if (ret != PX4_OK) { PX4_ERR("orb check failed"); }
+	if (orb_check(_handle, &isUpdated) != PX4_OK) {
+		PX4_ERR("%s check failed", _meta->o_name);
+	}
 
 	return isUpdated;
 }
 
-void SubscriptionBase::update(void *data)
+bool SubscriptionBase::update(void *data)
 {
-	if (updated()) {
+	bool orb_updated = false;
-		int ret = orb_copy(_meta, _handle, data);
 
-		if (ret != PX4_OK) { PX4_ERR("orb copy failed"); }
+	if (updated()) {
+		if (orb_copy(_meta, _handle, data) != PX4_OK) {
+			PX4_ERR("%s copy failed", _meta->o_name);
+
+		} else {
+			orb_updated = true;
+		}
 	}
+
+	return orb_updated;
 }
 
 SubscriptionBase::~SubscriptionBase()
 {
-	int ret = orb_unsubscribe(_handle);
+	if (orb_unsubscribe(_handle) != PX4_OK) {
+		PX4_ERR("%s unsubscribe failed", _meta->o_name);
+	}
+}
 
-	if (ret != PX4_OK) { PX4_ERR("orb unsubscribe failed"); }
+SubscriptionNode::SubscriptionNode(const struct orb_metadata *meta, unsigned interval, unsigned instance,
+				   List<SubscriptionNode *> *list)
+	: SubscriptionBase(meta, interval, instance)
+{
+	if (list != nullptr) {
+		list->add(this);
+	}
 }
 
 } // namespace uORB

src/modules/uORB/Subscription.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2017 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
@@ -32,14 +32,12 @@
  ****************************************************************************/
 
 /**
- * @file Subscription.h
+ * @file Subscription.hpp
  *
  */
 
 #pragma once
 
-#include <assert.h>
-
 #include <uORB/uORB.h>
 #include <containers/List.hpp>
 #include <systemlib/err.h>
@@ -48,14 +46,12 @@ namespace uORB
 {
 
 /**
- * Base subscription warapper class, used in list traversal
+ * Base subscription wrapper class, used in list traversal
  * of various subscriptions.
  */
 class __EXPORT SubscriptionBase
 {
 public:
-// methods
-
 	/**
 	 * Constructor
 	 *
@@ -65,8 +61,14 @@ public:
 	 * 	between updates
 	 * @param instance The instance for multi sub.
 	 */
-	SubscriptionBase(const struct orb_metadata *meta,
+	SubscriptionBase(const struct orb_metadata *meta, unsigned interval = 0, unsigned instance = 0);
-			 unsigned interval = 0, unsigned instance = 0);
+	virtual ~SubscriptionBase();
+
+	// no copy, assignment, move, move assignment
+	SubscriptionBase(const SubscriptionBase &) = delete;
+	SubscriptionBase &operator=(const SubscriptionBase &) = delete;
+	SubscriptionBase(SubscriptionBase &&) = delete;
+	SubscriptionBase &operator=(SubscriptionBase &&) = delete;
 
 	/**
 	 * Check if there is a new update.
@@ -77,35 +79,14 @@ public:
 	 * Update the struct
 	 * @param data The uORB message struct we are updating.
 	 */
-	void update(void *data);
+	bool update(void *data);
 
-	/**
-	 * Deconstructor
-	 */
-	virtual ~SubscriptionBase();
-
-// accessors
-	const struct orb_metadata *getMeta() { return _meta; }
 	int getHandle() const { return _handle; }
 
-	unsigned getInterval() const
-	{
-		unsigned int interval;
-		orb_get_interval(getHandle(), &interval);
-		return interval;
-	}
 protected:
-// accessors
-	void setHandle(int handle) { _handle = handle; }
-// attributes
 	const struct orb_metadata *_meta;
-	int _instance;
+	unsigned _instance;
 	int _handle;
-private:
-	// disallow copy
-	SubscriptionBase(const SubscriptionBase &other);
-	// disallow assignment
-	SubscriptionBase &operator=(const SubscriptionBase &other);
 };
 
 /**
@@ -116,10 +97,7 @@ typedef SubscriptionBase SubscriptionTiny;
 /**
  * The subscription base class as a list node.
  */
-class __EXPORT SubscriptionNode :
+class __EXPORT SubscriptionNode : public SubscriptionBase, public ListNode<SubscriptionNode *>
-
-	public SubscriptionBase,
-	public ListNode<SubscriptionNode *>
 {
 public:
 	/**
@@ -133,20 +111,16 @@ public:
 	 * @param list 	A pointer to a list of subscriptions
 	 * 	that this should be appended to.
 	 */
-	SubscriptionNode(const struct orb_metadata *meta,
+	SubscriptionNode(const struct orb_metadata *meta, unsigned interval = 0, unsigned instance = 0,
-			 unsigned interval = 0,
+			 List<SubscriptionNode *> *list = nullptr);
-			 int instance = 0,
+
-			 List<SubscriptionNode *> *list = nullptr) :
+	virtual ~SubscriptionNode() override = default;
-		SubscriptionBase(meta, interval, instance)
-	{
-		if (list != nullptr) { list->add(this); }
-	}
 
 	/**
 	 * This function is the callback for list traversal
 	 * updates, a child class must implement it.
 	 */
-	virtual void update() = 0;
+	virtual bool update() = 0;
 
 };
 
@@ -154,8 +128,7 @@ public:
  * Subscription wrapper class
  */
 template<class T>
-class __EXPORT Subscription :
+class __EXPORT Subscription final : public SubscriptionNode
-	public SubscriptionNode
 {
 public:
 	/**
@@ -168,43 +141,26 @@ public:
 	 * @param list A list interface for adding to
 	 * 	list during construction
 	 */
-	Subscription(const struct orb_metadata *meta,
+	Subscription(const struct orb_metadata *meta, unsigned interval = 0, unsigned instance = 0,
-		     unsigned interval = 0,
-		     int instance = 0,
 		     List<SubscriptionNode *> *list = nullptr):
 		SubscriptionNode(meta, interval, instance, list),
 		_data() // initialize data structure to zero
 	{}
 
+	~Subscription() override final = default;
 
-	Subscription(const Subscription &other):
+	// no copy, assignment, move, move assignment
-		SubscriptionNode(other._meta, other.getInterval(), other._instance, nullptr),
+	Subscription(const Subscription &) = delete;
-		_data() // initialize data structure to zero
+	Subscription &operator=(const Subscription &) = delete;
-	{}
+	Subscription(Subscription &&) = delete;
-
+	Subscription &operator=(Subscription &&) = delete;
-
-	/**
-	 * Deconstructor
-	 */
-	virtual ~Subscription()
-	{}
-
 
 	/**
 	 * Create an update function that uses the embedded struct.
 	 */
-	void update()
+	bool update() override final
 	{
-		SubscriptionBase::update((void *)(&_data));
+		return SubscriptionBase::update((void *)(&_data));
-	}
-
-
-	/**
-	 * Create an update function that uses the embedded struct.
-	 */
-	bool check_updated()
-	{
-		return SubscriptionBase::updated();
 	}
 
 	/*

src/modules/uORB/uORBManager.cpp

@@ -197,7 +197,7 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 	px4_close(fd);
 
 	if (result == ERROR) {
-		PX4_WARN("px4_ioctl ORBIOCGADVERTISER  failed. fd = %d", fd);
+		PX4_WARN("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
 		return nullptr;
 	}