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uORBDevices: astyle

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Ban Siesta 2015-06-13 10:31:15 +01:00 committed by Lorenz Meier
parent f4f761042b
commit fee8449de3
4 changed files with 1062 additions and 1026 deletions
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799
src/modules/uORB/uORBDevices_nuttx.cpp
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287
src/modules/uORB/uORBDevices_nuttx.hpp
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@ -43,8 +43,8 @@
namespace uORB
{
class DeviceNode;
class DeviceMaster;
class DeviceNode;
class DeviceMaster;
}
/**
@ -53,166 +53,167 @@ namespace uORB
class uORB::DeviceNode : public device::CDev
{
public:
/**
* Constructor
*/
DeviceNode
(
const struct orb_metadata *meta,
const char *name,
const char *path,
int priority
);
/**
* Constructor
*/
DeviceNode
(
const struct orb_metadata *meta,
const char *name,
const char *path,
int priority
);
/**
* Destructor
*/
~DeviceNode();
/**
* Destructor
*/
~DeviceNode();
/**
* Method to create a subscriber instance and return the struct
* pointing to the subscriber as a file pointer.
*/
virtual int open(struct file *filp);
/**
* Method to create a subscriber instance and return the struct
* pointing to the subscriber as a file pointer.
*/
virtual int open(struct file *filp);
/**
* Method to close a subscriber for this topic.
*/
virtual int close(struct file *filp);
/**
* Method to close a subscriber for this topic.
*/
virtual int close(struct file *filp);
/**
* reads data from a subscriber node to the buffer provided.
* @param filp
* The subscriber from which the data needs to be read from.
* @param buffer
* The buffer into which the data is read into.
* @param buflen
* the length of the buffer
* @return
* ssize_t the number of bytes read.
*/
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
/**
* reads data from a subscriber node to the buffer provided.
* @param filp
* The subscriber from which the data needs to be read from.
* @param buffer
* The buffer into which the data is read into.
* @param buflen
* the length of the buffer
* @return
* ssize_t the number of bytes read.
*/
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
/**
* writes the published data to the internal buffer to be read by
* subscribers later.
* @param filp
* the subscriber; this is not used.
* @param buffer
* The buffer for the input data
* @param buflen
* the length of the buffer.
* @return ssize_t
* The number of bytes that are written
*/
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
/**
* writes the published data to the internal buffer to be read by
* subscribers later.
* @param filp
* the subscriber; this is not used.
* @param buffer
* The buffer for the input data
* @param buflen
* the length of the buffer.
* @return ssize_t
* The number of bytes that are written
*/
virtual ssize_t write(struct file *filp, const char *buffer, size_t buflen);
/**
* IOCTL control for the subscriber.
*/
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* IOCTL control for the subscriber.
*/
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Method to publish a data to this node.
*/
static ssize_t publish
(
const orb_metadata *meta,
orb_advert_t handle,
const void *data
);
/**
* Method to publish a data to this node.
*/
static ssize_t publish
(
const orb_metadata *meta,
orb_advert_t handle,
const void *data
);
/**
* processes a request for add subscription from remote
* @param rateInHz
* Specifies the desired rate for the message.
* @return
* 0 = success
* otherwise failure.
*/
int16_t process_add_subscription( int32_t rateInHz );
/**
* processes a request for add subscription from remote
* @param rateInHz
* Specifies the desired rate for the message.
* @return
* 0 = success
* otherwise failure.
*/
int16_t process_add_subscription(int32_t rateInHz);
/**
* processes a request to remove a subscription from remote.
*/
int16_t process_remove_subscription();
/**
* processes a request to remove a subscription from remote.
*/
int16_t process_remove_subscription();
/**
* processed the received data message from remote.
*/
int16_t process_received_message( int32_t length, uint8_t* data );
/**
* processed the received data message from remote.
*/
int16_t process_received_message(int32_t length, uint8_t *data);
/**
* Add the subscriber to the node's list of subscriber. If there is
* remote proxy to which this subscription needs to be sent, it will
* done via uORBCommunicator::IChannel interface.
* @param sd
* the subscriber to be added.
*/
void add_internal_subscriber();
/**
* Add the subscriber to the node's list of subscriber. If there is
* remote proxy to which this subscription needs to be sent, it will
* done via uORBCommunicator::IChannel interface.
* @param sd
* the subscriber to be added.
*/
void add_internal_subscriber();
/**
* Removes the subscriber from the list. Also notifies the remote
* if there a uORBCommunicator::IChannel instance.
* @param sd
* the Subscriber to be removed.
*/
void remove_internal_subscriber();
/**
* Removes the subscriber from the list. Also notifies the remote
* if there a uORBCommunicator::IChannel instance.
* @param sd
* the Subscriber to be removed.
*/
void remove_internal_subscriber();
protected:
virtual pollevent_t poll_state(struct file *filp);
virtual void poll_notify_one(struct pollfd *fds, pollevent_t events);
virtual pollevent_t poll_state(struct file *filp);
virtual void poll_notify_one(struct pollfd *fds, pollevent_t events);
private:
struct SubscriberData {
unsigned generation; /**< last generation the subscriber has seen */
unsigned update_interval; /**< if nonzero minimum interval between updates */
struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */
void *poll_priv; /**< saved copy of fds->f_priv while poll is active */
bool update_reported; /**< true if we have reported the update via poll/check */
int priority; /**< priority of publisher */
};
struct SubscriberData {
unsigned generation; /**< last generation the subscriber has seen */
unsigned update_interval; /**< if nonzero minimum interval between updates */
struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */
void *poll_priv; /**< saved copy of fds->f_priv while poll is active */
bool update_reported; /**< true if we have reported the update via poll/check */
int priority; /**< priority of publisher */
};
const struct orb_metadata *_meta; /**< object metadata information */
uint8_t *_data; /**< allocated object buffer */
hrt_abstime _last_update; /**< time the object was last updated */
volatile unsigned _generation; /**< object generation count */
pid_t _publisher; /**< if nonzero, current publisher */
const int _priority; /**< priority of topic */
const struct orb_metadata *_meta; /**< object metadata information */
uint8_t *_data; /**< allocated object buffer */
hrt_abstime _last_update; /**< time the object was last updated */
volatile unsigned _generation; /**< object generation count */
pid_t _publisher; /**< if nonzero, current publisher */
const int _priority; /**< priority of topic */
private: // private class methods.
SubscriberData *filp_to_sd(struct file *filp) {
SubscriberData *sd = (SubscriberData *)(filp->f_priv);
return sd;
}
SubscriberData *filp_to_sd(struct file *filp)
{
SubscriberData *sd = (SubscriberData *)(filp->f_priv);
return sd;
}
bool _IsRemoteSubscriberPresent;
int32_t _subscriber_count;
bool _IsRemoteSubscriberPresent;
int32_t _subscriber_count;
/**
* Perform a deferred update for a rate-limited subscriber.
*/
void update_deferred();
/**
* Perform a deferred update for a rate-limited subscriber.
*/
void update_deferred();
/**
* Bridge from hrt_call to update_deferred
*
* void *arg ORBDevNode pointer for which the deferred update is performed.
*/
static void update_deferred_trampoline(void *arg);
/**
* Bridge from hrt_call to update_deferred
*
* void *arg ORBDevNode pointer for which the deferred update is performed.
*/
static void update_deferred_trampoline(void *arg);
/**
* Check whether a topic appears updated to a subscriber.
*
* @param sd The subscriber for whom to check.
* @return True if the topic should appear updated to the subscriber
*/
bool appears_updated(SubscriberData *sd);
/**
* Check whether a topic appears updated to a subscriber.
*
* @param sd The subscriber for whom to check.
* @return True if the topic should appear updated to the subscriber
*/
bool appears_updated(SubscriberData *sd);
// disable copy and assignment operators
DeviceNode( const DeviceNode& );
DeviceNode& operator=( const DeviceNode& );
// disable copy and assignment operators
DeviceNode(const DeviceNode &);
DeviceNode &operator=(const DeviceNode &);
};
/**
@ -224,14 +225,14 @@ private: // private class methods.
class uORB::DeviceMaster : public device::CDev
{
public:
DeviceMaster(Flavor f);
virtual ~DeviceMaster();
DeviceMaster(Flavor f);
virtual ~DeviceMaster();
static uORB::DeviceNode* GetDeviceNode( const char * node_name );
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
static uORB::DeviceNode *GetDeviceNode(const char *node_name);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
private:
Flavor _flavor;
static ORBMap _node_map;
Flavor _flavor;
static ORBMap _node_map;
};

830
src/modules/uORB/uORBDevices_posix.cpp
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172
src/modules/uORB/uORBDevices_posix.hpp
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@ -41,110 +41,110 @@
namespace uORB
{
class DeviceNode;
class DeviceMaster;
class DeviceNode;
class DeviceMaster;
}
class uORB::DeviceNode : public device::VDev
{
public:
DeviceNode(const struct orb_metadata *meta, const char *name, const char *path, int priority);
~DeviceNode();
DeviceNode(const struct orb_metadata *meta, const char *name, const char *path, int priority);
~DeviceNode();
virtual int open(device::file_t *filp);
virtual int close(device::file_t *filp);
virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
virtual ssize_t write(device::file_t *filp, const char *buffer, size_t buflen);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
virtual int open(device::file_t *filp);
virtual int close(device::file_t *filp);
virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
virtual ssize_t write(device::file_t *filp, const char *buffer, size_t buflen);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
static ssize_t publish(const orb_metadata *meta, orb_advert_t handle, const void *data );
static ssize_t publish(const orb_metadata *meta, orb_advert_t handle, const void *data);
/**
* processes a request for add subscription from remote
* @param rateInHz
* Specifies the desired rate for the message.
* @return
* 0 = success
* otherwise failure.
*/
int16_t process_add_subscription( int32_t rateInHz );
/**
* processes a request for add subscription from remote
* @param rateInHz
* Specifies the desired rate for the message.
* @return
* 0 = success
* otherwise failure.
*/
int16_t process_add_subscription(int32_t rateInHz);
/**
* processes a request to remove a subscription from remote.
*/
int16_t process_remove_subscription();
/**
* processes a request to remove a subscription from remote.
*/
int16_t process_remove_subscription();
/**
* processed the received data message from remote.
*/
int16_t process_received_message( int32_t length, uint8_t* data );
/**
* processed the received data message from remote.
*/
int16_t process_received_message(int32_t length, uint8_t *data);
/**
* Add the subscriber to the node's list of subscriber. If there is
* remote proxy to which this subscription needs to be sent, it will
* done via uORBCommunicator::IChannel interface.
* @param sd
* the subscriber to be added.
*/
void add_internal_subscriber();
/**
* Add the subscriber to the node's list of subscriber. If there is
* remote proxy to which this subscription needs to be sent, it will
* done via uORBCommunicator::IChannel interface.
* @param sd
* the subscriber to be added.
*/
void add_internal_subscriber();
/**
* Removes the subscriber from the list. Also notifies the remote
* if there a uORBCommunicator::IChannel instance.
* @param sd
* the Subscriber to be removed.
*/
void remove_internal_subscriber();
/**
* Removes the subscriber from the list. Also notifies the remote
* if there a uORBCommunicator::IChannel instance.
* @param sd
* the Subscriber to be removed.
*/
void remove_internal_subscriber();
protected:
virtual pollevent_t poll_state(device::file_t *filp);
virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
virtual pollevent_t poll_state(device::file_t *filp);
virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
private:
struct SubscriberData {
unsigned generation; /**< last generation the subscriber has seen */
unsigned update_interval; /**< if nonzero minimum interval between updates */
struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */
void *poll_priv; /**< saved copy of fds->f_priv while poll is active */
bool update_reported; /**< true if we have reported the update via poll/check */
int priority; /**< priority of publisher */
};
struct SubscriberData {
unsigned generation; /**< last generation the subscriber has seen */
unsigned update_interval; /**< if nonzero minimum interval between updates */
struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */
void *poll_priv; /**< saved copy of fds->f_priv while poll is active */
bool update_reported; /**< true if we have reported the update via poll/check */
int priority; /**< priority of publisher */
};
const struct orb_metadata *_meta; /**< object metadata information */
uint8_t *_data; /**< allocated object buffer */
hrt_abstime _last_update; /**< time the object was last updated */
volatile unsigned _generation; /**< object generation count */
unsigned long _publisher; /**< if nonzero, current publisher */
const int _priority; /**< priority of topic */
const struct orb_metadata *_meta; /**< object metadata information */
uint8_t *_data; /**< allocated object buffer */
hrt_abstime _last_update; /**< time the object was last updated */
volatile unsigned _generation; /**< object generation count */
unsigned long _publisher; /**< if nonzero, current publisher */
const int _priority; /**< priority of topic */
SubscriberData *filp_to_sd(device::file_t *filp);
SubscriberData *filp_to_sd(device::file_t *filp);
int32_t _subscriber_count;
int32_t _subscriber_count;
/**
* Perform a deferred update for a rate-limited subscriber.
*/
void update_deferred();
/**
* Perform a deferred update for a rate-limited subscriber.
*/
void update_deferred();
/**
* Bridge from hrt_call to update_deferred
*
* void *arg ORBDevNode pointer for which the deferred update is performed.
*/
static void update_deferred_trampoline(void *arg);
/**
* Bridge from hrt_call to update_deferred
*
* void *arg ORBDevNode pointer for which the deferred update is performed.
*/
static void update_deferred_trampoline(void *arg);
/**
* Check whether a topic appears updated to a subscriber.
*
* @param sd The subscriber for whom to check.
* @return True if the topic should appear updated to the subscriber
*/
bool appears_updated(SubscriberData *sd);
/**
* Check whether a topic appears updated to a subscriber.
*
* @param sd The subscriber for whom to check.
* @return True if the topic should appear updated to the subscriber
*/
bool appears_updated(SubscriberData *sd);
// disable copy and assignment operators
DeviceNode( const DeviceNode& );
DeviceNode& operator=( const DeviceNode& );
// disable copy and assignment operators
DeviceNode(const DeviceNode &);
DeviceNode &operator=(const DeviceNode &);
};
/**
@ -156,15 +156,15 @@ private:
class uORB::DeviceMaster : public device::VDev
{
public:
DeviceMaster(Flavor f);
~DeviceMaster();
DeviceMaster(Flavor f);
~DeviceMaster();
static uORB::DeviceNode* GetDeviceNode( const char *node_name );
static uORB::DeviceNode *GetDeviceNode(const char *node_name);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
private:
Flavor _flavor;
static std::map<std::string, uORB::DeviceNode*> _node_map;
Flavor _flavor;
static std::map<std::string, uORB::DeviceNode *> _node_map;
};
#endif /* _uORBDeviceNode_posix.hpp */