uorb: more syntax changes to remove diff between nuttx & posix files

src/modules/uORB/uORBDevices_nuttx.cpp

@@ -43,8 +43,9 @@
 #include <px4_sem.hpp>
 #include <stdlib.h>
 
+using namespace device;
 
-uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(struct file *filp)
+uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *filp)
 {
 	SubscriberData *sd = (SubscriberData *)(filp->f_priv);
 	return sd;
@@ -52,7 +53,7 @@ uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(struct file *filp
 
 uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
 			     int priority, unsigned int queue_size) :
-	CDev(name, path),
+	VDev(name, path),
 	_meta(meta),
 	_data(nullptr),
 	_last_update(0),
@@ -77,7 +78,7 @@ uORB::DeviceNode::~DeviceNode()
 }
 
 int
-uORB::DeviceNode::open(struct file *filp)
+uORB::DeviceNode::open(device::file_t *filp)
 {
 	int ret;
 
@@ -88,7 +89,7 @@ uORB::DeviceNode::open(struct file *filp)
 		lock();
 
 		if (_publisher == 0) {
-			_publisher = getpid();
+			_publisher = px4_getpid();
 			ret = PX4_OK;
 
 		} else {
@@ -99,7 +100,7 @@ uORB::DeviceNode::open(struct file *filp)
 
 		/* now complete the open */
 		if (ret == PX4_OK) {
-			ret = CDev::open(filp);
+			ret = VDev::open(filp);
 
 			/* open failed - not the publisher anymore */
 			if (ret != PX4_OK) {
@@ -130,7 +131,7 @@ uORB::DeviceNode::open(struct file *filp)
 
 		filp->f_priv = (void *)sd;
 
-		ret = CDev::open(filp);
+		ret = VDev::open(filp);
 
 		add_internal_subscriber();
 
@@ -147,10 +148,10 @@ uORB::DeviceNode::open(struct file *filp)
 }
 
 int
-uORB::DeviceNode::close(struct file *filp)
+uORB::DeviceNode::close(device::file_t *filp)
 {
 	/* is this the publisher closing? */
-	if (getpid() == _publisher) {
+	if (px4_getpid() == _publisher) {
 		_publisher = 0;
 
 	} else {
@@ -167,11 +168,11 @@ uORB::DeviceNode::close(struct file *filp)
 		}
 	}
 
-	return CDev::close(filp);
+	return VDev::close(filp);
 }
 
 ssize_t
-uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
+uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
 {
 	SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
 
@@ -227,7 +228,7 @@ uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
 }
 
 ssize_t
-uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
+uORB::DeviceNode::write(device::file_t *filp, const char *buffer, size_t buflen)
 {
 	/*
 	 * Writes are legal from interrupt context as long as the
@@ -282,7 +283,7 @@ uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
 }
 
 int
-uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
+uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	SubscriberData *sd = filp_to_sd(filp);
 
@@ -354,7 +355,7 @@ uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	default:
 		/* give it to the superclass */
-		return CDev::ioctl(filp, cmd, arg);
+		return VDev::ioctl(filp, cmd, arg);
 	}
 }
 
@@ -423,7 +424,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
 }
 
 pollevent_t
-uORB::DeviceNode::poll_state(struct file *filp)
+uORB::DeviceNode::poll_state(device::file_t *filp)
 {
 	SubscriberData *sd = filp_to_sd(filp);
 
@@ -438,15 +439,15 @@ uORB::DeviceNode::poll_state(struct file *filp)
 }
 
 void
-uORB::DeviceNode::poll_notify_one(struct pollfd *fds, pollevent_t events)
+uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 {
-	SubscriberData *sd = filp_to_sd((struct file *)fds->priv);
+	SubscriberData *sd = filp_to_sd((device::file_t *)fds->priv);
 
 	/*
 	 * If the topic looks updated to the subscriber, go ahead and notify them.
 	 */
 	if (appears_updated(sd)) {
-		CDev::poll_notify_one(fds, events);
+		VDev::poll_notify_one(fds, events);
 	}
 }
 
@@ -677,7 +678,7 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
 }
 
 uORB::DeviceMaster::DeviceMaster(Flavor f) :
-	CDev((f == PUBSUB) ? "obj_master" : "param_master",
+	VDev((f == PUBSUB) ? "obj_master" : "param_master",
 	     (f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
 	_flavor(f)
 {
@@ -691,7 +692,7 @@ uORB::DeviceMaster::~DeviceMaster()
 }
 
 int
-uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
+uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	int ret;
 
@@ -798,7 +799,7 @@ uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	default:
 		/* give it to the superclass */
-		return CDev::ioctl(filp, cmd, arg);
+		return VDev::ioctl(filp, cmd, arg);
 	}
 }
 

src/modules/uORB/uORBDevices_nuttx.hpp

@@ -34,10 +34,27 @@
 #pragma once
 
 #include <stdint.h>
+#include "uORBCommon.hpp"
+
+
+#ifdef __PX4_NUTTX
 #include <string.h>
 #include <stdlib.h>
 #include "ORBMap.hpp"
-#include "uORBCommon.hpp"
+
+namespace device {
+//type mappings to NuttX
+typedef ::file file_t;
+typedef CDev VDev;
+}
+
+#else
+
+#include <string>
+#include <map>
+
+#endif /* __PX4_NUTTX */
+
 
 
 namespace uORB
@@ -50,7 +67,7 @@ class Manager;
 /**
  * Per-object device instance.
  */
-class uORB::DeviceNode : public device::CDev
+class uORB::DeviceNode : public device::VDev
 {
 public:
 	DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
@@ -61,12 +78,12 @@ public:
 	 * Method to create a subscriber instance and return the struct
 	 * pointing to the subscriber as a file pointer.
 	 */
-	virtual int open(struct file *filp);
+	virtual int open(device::file_t *filp);
 
 	/**
 	 * Method to close a subscriber for this topic.
 	 */
-	virtual int   close(struct file *filp);
+	virtual int   close(device::file_t *filp);
 
 	/**
 	 * reads data from a subscriber node to the buffer provided.
@@ -79,7 +96,7 @@ public:
 	 * @return
 	 *   ssize_t the number of bytes read.
 	 */
-	virtual ssize_t  read(struct file *filp, char *buffer, size_t buflen);
+	virtual ssize_t   read(device::file_t *filp, char *buffer, size_t buflen);
 
 	/**
 	 * writes the published data to the internal buffer to be read by
@@ -93,12 +110,12 @@ public:
 	 * @return ssize_t
 	 *   The number of bytes that are written
 	 */
-	virtual ssize_t   write(struct file *filp, const char *buffer, size_t buflen);
+	virtual ssize_t   write(device::file_t *filp, const char *buffer, size_t buflen);
 
 	/**
 	 * IOCTL control for the subscriber.
 	 */
-	virtual int   ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Method to publish a data to this node.
@@ -174,8 +191,8 @@ public:
 	const struct orb_metadata *meta() const { return _meta; }
 
 protected:
-	virtual pollevent_t poll_state(struct file *filp);
+	virtual pollevent_t poll_state(device::file_t *filp);
-	virtual void poll_notify_one(struct pollfd *fds, pollevent_t events);
+	virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
 
 private:
 	struct UpdateIntervalData {
@@ -206,7 +223,7 @@ private:
 	bool _published;  /**< has ever data been published */
 	unsigned int _queue_size; /**< maximum number of elements in the queue */
 
-	inline static SubscriberData    *filp_to_sd(struct file *filp);
+	inline static SubscriberData    *filp_to_sd(device::file_t *filp);
 
 	bool    _IsRemoteSubscriberPresent;
 	int32_t _subscriber_count;
@@ -249,10 +266,10 @@ private:
  * Used primarily to create new objects via the ORBIOCCREATE
  * ioctl.
  */
-class uORB::DeviceMaster : public device::CDev
+class uORB::DeviceMaster : public device::VDev
 {
 public:
-	virtual int   ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual int   ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Public interface for getDeviceNodeLocked(). Takes care of synchronization.

src/modules/uORB/uORBDevices_posix.cpp

@@ -44,6 +44,7 @@
 #include <px4_sem.hpp>
 #include <stdlib.h>
 
+using namespace device;
 
 uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *filp)
 {
@@ -288,7 +289,6 @@ 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)
 {
-	//warnx("uORB::DeviceNode::ioctl fd = %d cmd = %d", filp->fd, cmd);
 	SubscriberData *sd = filp_to_sd(filp);
 
 	switch (cmd) {
@@ -433,7 +433,6 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
 pollevent_t
 uORB::DeviceNode::poll_state(device::file_t *filp)
 {
-	//warnx("uORB::DeviceNode::poll_state fd = %d", filp->fd);
 	SubscriberData *sd = filp_to_sd(filp);
 
 	/*
@@ -449,7 +448,6 @@ uORB::DeviceNode::poll_state(device::file_t *filp)
 void
 uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 {
-	//warnx("uORB::DeviceNode::poll_notify_one fds = %p fds->priv = %p", fds, fds->priv);
 	SubscriberData *sd = filp_to_sd((device::file_t *)fds->priv);
 
 	/*
@@ -469,7 +467,6 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
 		usleep(100);
 	}
 
-	//warnx("uORB::DeviceNode::appears_updated sd = %p", sd);
 	/* assume it doesn't look updated */
 	bool ret = false;
 
@@ -671,7 +668,6 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
 	return PX4_OK;
 }
 
-
 uORB::DeviceMaster::DeviceMaster(Flavor f) :
 	VDev((f == PUBSUB) ? "obj_master" : "param_master",
 	     (f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
@@ -781,7 +777,6 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 					_node_map[std::string(nodepath)] = node;
 				}
 
-
 				group_tries++;
 
 			} while (ret != PX4_OK && (group_tries < max_group_tries));
@@ -807,9 +802,9 @@ void uORB::DeviceMaster::printStatistics(bool reset)
 	_last_statistics_output = current_time;
 
 	PX4_INFO("TOPIC, NR LOST MSGS");
+	bool had_print = false;
 
 	lock();
-	bool had_print = false;
 
 	for (const auto &node : _node_map) {
 		if (node.second->print_statistics(reset)) {