airspeedsim move to cdev lib

src/modules/simulator/airspeedsim/airspeedsim.cpp

@@ -70,7 +70,7 @@
 #include "airspeedsim.h"
 
 AirspeedSim::AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path) :
-	CDev("AIRSPEEDSIM", path),
+	CDev(path),
 	_reports(nullptr),
 	_retries(0),
 	_sensor_ok(false),
@@ -83,11 +83,6 @@ AirspeedSim::AirspeedSim(int bus, int address, unsigned conversion_interval, con
 	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors"))
 {
-	// enable debug() calls
-	_debug_enabled = false;
-
-	// work_cancel in the dtor will explode if we don't do this...
-	memset(&_work, 0, sizeof(_work));
 }
 
 AirspeedSim::~AirspeedSim()
@@ -116,7 +111,7 @@ AirspeedSim::init()
 
 	/* init base class */
 	if (CDev::init() != OK) {
-		DEVICE_DEBUG("CDev init failed");
+		PX4_ERR("CDev init failed");
 		goto out;
 	}
 
@@ -131,7 +126,7 @@ AirspeedSim::init()
 	_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
 
 	/* publication init */
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+	if (_class_instance == 0) {
 
 		/* advertise sensor topic, measure manually to initialize valid report */
 		struct differential_pressure_s arp;
@@ -168,7 +163,7 @@ AirspeedSim::probe()
 }
 
 int
-AirspeedSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
+AirspeedSim::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -280,7 +275,7 @@ AirspeedSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 }
 
 ssize_t
-AirspeedSim::read(device::file_t *filp, char *buffer, size_t buflen)
+AirspeedSim::read(cdev::file_t *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(differential_pressure_s);
 	differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);

src/modules/simulator/airspeedsim/airspeedsim.h

@@ -64,7 +64,7 @@
 #include <drivers/drv_airspeed.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/device/ringbuffer.h>
-#include <drivers/device/device.h>
+#include <lib/cdev/CDev.hpp>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/differential_pressure.h>
@@ -76,7 +76,7 @@
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
 
-class __EXPORT AirspeedSim : public device::CDev
+class __EXPORT AirspeedSim : public cdev::CDev
 {
 public:
 	AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path);
@@ -84,8 +84,8 @@ public:
 
 	virtual int	init();
 
-	virtual ssize_t	read(device::file_t *filp, char *buffer, size_t buflen);
-	virtual int	ioctl(device::file_t *filp, int cmd, unsigned long arg);
+	virtual ssize_t	read(cdev::file_t *filp, char *buffer, size_t buflen);
+	virtual int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Diagnostics - print some basic information about the driver.
@@ -115,7 +115,7 @@ protected:
 	virtual int	transfer(const uint8_t *send, unsigned send_len,
 				 uint8_t *recv, unsigned recv_len);
 
-	struct work_s			_work;
+	struct work_s			_work {};
 	bool			_sensor_ok;
 	int			_measure_ticks;
 	bool			_collect_phase;

src/modules/simulator/airspeedsim/meas_airspeed_sim.cpp

@@ -198,7 +198,7 @@ MEASAirspeedSim::collect()
 	report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
 	report.differential_pressure_raw_pa = diff_press_pa_raw;
 
-	if (_airspeed_pub != nullptr && !(_pub_blocked)) {
+	if (_airspeed_pub != nullptr) {
 		/* publish it */
 		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
 	}
@@ -256,7 +256,7 @@ MEASAirspeedSim::cycle()
 	ret = measure();
 
 	if (OK != ret) {
-		DEVICE_DEBUG("measure error");
+		PX4_ERR("measure error");
 	}
 
 	_sensor_ok = (ret == OK);