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uORB delete unused Flavor

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This commit is contained in:
Daniel Agar
2018-04-30 20:54:46 -04:00
parent cc061885f0
commit edea1b65cd
9 changed files with 95 additions and 160 deletions
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src/modules/uORB/uORBManager.cpp
+45 -63
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@@ -64,9 +64,7 @@ bool uORB::Manager::initialize()
uORB::Manager::Manager()
: _comm_channel(nullptr)
{
for (int i = 0; i < Flavor_count; ++i) {
_device_masters[i] = nullptr;
}
_device_master = nullptr;
#ifdef ORB_USE_PUBLISHER_RULES
const char *file_name = "./rootfs/orb_publisher.rules";
@@ -86,26 +84,22 @@ uORB::Manager::Manager()
uORB::Manager::~Manager()
{
for (int i = 0; i < Flavor_count; ++i) {
if (_device_masters[i]) {
delete _device_masters[i];
}
}
delete _device_master;
}
uORB::DeviceMaster *uORB::Manager::get_device_master(Flavor flavor)
uORB::DeviceMaster *uORB::Manager::get_device_master()
{
if (!_device_masters[flavor]) {
_device_masters[flavor] = new DeviceMaster(flavor);
if (!_device_master) {
_device_master = new DeviceMaster();
if (_device_masters[flavor]) {
int ret = _device_masters[flavor]->init();
if (_device_master) {
int ret = _device_master->init();
if (ret != PX4_OK) {
PX4_ERR("Initialization of DeviceMaster failed (%i)", ret);
errno = -ret;
delete _device_masters[flavor];
_device_masters[flavor] = nullptr;
delete _device_master;
_device_master = nullptr;
}
} else {
@@ -114,7 +108,7 @@ uORB::DeviceMaster *uORB::Manager::get_device_master(Flavor flavor)
}
}
return _device_masters[flavor];
return _device_master;
}
int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
@@ -124,11 +118,11 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
*/
char path[orb_maxpath];
int inst = instance;
int ret = uORB::Utils::node_mkpath(path, PUBSUB, meta, &inst);
int ret = uORB::Utils::node_mkpath(path, meta, &inst);
if (ret != OK) {
errno = -ret;
return ERROR;
return PX4_ERROR;
}
#if defined(__PX4_NUTTX)
@@ -138,7 +132,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
ret = px4_access(path, F_OK);
if (ret == -1 && meta != nullptr && !_remote_topics.empty()) {
ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : ERROR;
ret = (_remote_topics.find(meta->o_name) != _remote_topics.end()) ? OK : PX4_ERROR;
}
#endif
@@ -154,7 +148,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
if (px4_ioctl(fd, ORBIOCISPUBLISHED, (unsigned long)&is_published) == 0) {
if (!is_published) {
ret = ERROR;
ret = PX4_ERROR;
}
}
@@ -196,9 +190,9 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
orb_advert_t advertiser;
/* open the node as an advertiser */
fd = node_open(PUBSUB, meta, data, true, instance, priority);
fd = node_open(meta, data, true, instance, priority);
if (fd == ERROR) {
if (fd == PX4_ERROR) {
PX4_ERR("%s advertise failed", meta->o_name);
return nullptr;
}
@@ -216,7 +210,7 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
px4_close(fd);
if (result == ERROR) {
if (result == PX4_ERROR) {
PX4_WARN("px4_ioctl ORBIOCGADVERTISER failed. fd = %d", fd);
return nullptr;
}
@@ -227,7 +221,7 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
/* the advertiser must perform an initial publish to initialise the object */
result = orb_publish(meta, advertiser, data);
if (result == ERROR) {
if (result == PX4_ERROR) {
PX4_WARN("orb_publish failed");
return nullptr;
}
@@ -250,13 +244,13 @@ int uORB::Manager::orb_unadvertise(orb_advert_t handle)
int uORB::Manager::orb_subscribe(const struct orb_metadata *meta)
{
return node_open(PUBSUB, meta, nullptr, false);
return node_open(meta, nullptr, false);
}
int uORB::Manager::orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
{
int inst = instance;
return node_open(PUBSUB, meta, nullptr, false, &inst);
return node_open(meta, nullptr, false, &inst);
}
int uORB::Manager::orb_unsubscribe(int fd)
@@ -284,12 +278,12 @@ int uORB::Manager::orb_copy(const struct orb_metadata *meta, int handle, void *b
ret = px4_read(handle, buffer, meta->o_size);
if (ret < 0) {
return ERROR;
return PX4_ERROR;
}
if (ret != (int)meta->o_size) {
errno = EIO;
return ERROR;
return PX4_ERROR;
}
return PX4_OK;
@@ -333,7 +327,7 @@ int uORB::Manager::node_advertise
)
{
int fd = -1;
int ret = ERROR;
int ret = PX4_ERROR;
/* fill advertiser data */
const struct orb_advertdata adv = { meta, instance, priority };
@@ -362,15 +356,8 @@ out:
return ret;
}
int uORB::Manager::node_open
(
Flavor f,
const struct orb_metadata *meta,
const void *data,
bool advertiser,
int *instance,
int priority
)
int uORB::Manager::node_open(const struct orb_metadata *meta, const void *data, bool advertiser, int *instance,
int priority)
{
char path[orb_maxpath];
int fd = -1, ret;
@@ -381,7 +368,7 @@ int uORB::Manager::node_open
*/
if (nullptr == meta) {
errno = ENOENT;
return ERROR;
return PX4_ERROR;
}
/*
@@ -389,7 +376,7 @@ int uORB::Manager::node_open
*/
if (advertiser && (data == nullptr)) {
errno = EINVAL;
return ERROR;
return PX4_ERROR;
}
/* if we have an instance and are an advertiser, we will generate a new node and set the instance,
@@ -398,11 +385,11 @@ int uORB::Manager::node_open
/*
* Generate the path to the node and try to open it.
*/
ret = uORB::Utils::node_mkpath(path, f, meta, instance);
ret = uORB::Utils::node_mkpath(path, meta, instance);
if (ret != OK) {
errno = -ret;
return ERROR;
return PX4_ERROR;
}
/* open the path as either the advertiser or the subscriber */
@@ -420,11 +407,11 @@ int uORB::Manager::node_open
if (ret == PX4_OK) {
/* update the path, as it might have been updated during the node_advertise call */
ret = uORB::Utils::node_mkpath(path, f, meta, instance);
ret = uORB::Utils::node_mkpath(path, meta, instance);
if (ret != PX4_OK) {
errno = -ret;
return ERROR;
return PX4_ERROR;
}
}
@@ -447,7 +434,7 @@ int uORB::Manager::node_open
if (fd < 0) {
errno = EIO;
return ERROR;
return PX4_ERROR;
}
/* everything has been OK, we can return the handle now */
@@ -488,23 +475,21 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name, bool isAdver
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::Manager::process_add_subscription(const char *messageName,
int32_t msgRateInHz)
int16_t uORB::Manager::process_add_subscription(const char *messageName, int32_t msgRateInHz)
{
PX4_DEBUG("[posix-uORB::Manager::process_add_subscription(%d)] entering Manager_process_add_subscription: name: %s",
__LINE__, messageName);
PX4_DEBUG("entering Manager_process_add_subscription: name: %s", messageName);
int16_t rc = 0;
_remote_subscriber_topics.insert(messageName);
char nodepath[orb_maxpath];
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName);
DeviceMaster *device_master = get_device_master(PUBSUB);
int ret = uORB::Utils::node_mkpath(nodepath, messageName);
DeviceMaster *device_master = get_device_master();
if (ret == OK && device_master) {
uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
if (node == nullptr) {
PX4_DEBUG("[posix-uORB::Manager::process_add_subscription(%d)]DeviceNode(%s) not created yet",
__LINE__, messageName);
PX4_DEBUG("DeviceNode(%s) not created yet", messageName);
} else {
// node is present.
@@ -520,14 +505,13 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName,
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::Manager::process_remove_subscription(
const char *messageName)
int16_t uORB::Manager::process_remove_subscription(const char *messageName)
{
int16_t rc = -1;
_remote_subscriber_topics.erase(messageName);
char nodepath[orb_maxpath];
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName);
DeviceMaster *device_master = get_device_master(PUBSUB);
int ret = uORB::Utils::node_mkpath(nodepath, messageName);
DeviceMaster *device_master = get_device_master();
if (ret == OK && device_master) {
uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
@@ -549,21 +533,19 @@ int16_t uORB::Manager::process_remove_subscription(
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::Manager::process_received_message(const char *messageName,
int32_t length, uint8_t *data)
int16_t uORB::Manager::process_received_message(const char *messageName, int32_t length, uint8_t *data)
{
int16_t rc = -1;
char nodepath[orb_maxpath];
int ret = uORB::Utils::node_mkpath(nodepath, PUBSUB, messageName);
DeviceMaster *device_master = get_device_master(PUBSUB);
int ret = uORB::Utils::node_mkpath(nodepath, messageName);
DeviceMaster *device_master = get_device_master();
if (ret == OK && device_master) {
uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
// get the node name.
if (node == nullptr) {
PX4_DEBUG("[uORB::Manager::process_received_message(%d)]Error No existing subscriber found for message: [%s] nodepath:[%s]",
__LINE__, messageName, nodepath);
PX4_DEBUG("No existing subscriber found for message: [%s] nodepath:[%s]", messageName, nodepath);
} else {
// node is present.