From dbf2d25e2f6d97be8329f171ba1f6ee756442064 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 18 Aug 2018 15:03:57 -0400
Subject: [PATCH] uORB move to standalone CDev
- uORB topics should not be Devices with bus, address, device id
---
src/lib/cdev/CDev.hpp | 8 ++---
src/modules/uORB/uORBCommon.hpp | 3 +-
src/modules/uORB/uORBDeviceMaster.cpp | 10 ++----
src/modules/uORB/uORBDeviceMaster.hpp | 5 +--
src/modules/uORB/uORBDeviceNode.cpp | 23 ++++++------
src/modules/uORB/uORBDeviceNode.hpp | 19 +++++-----
src/modules/uORB/uORBManager.cpp | 12 +++----
.../uORB/uORB_tests/uORBTest_UnitTest.cpp | 1 +
.../tests/vcdev_test/vcdevtest_example.cpp | 36 +++++++------------
9 files changed, 49 insertions(+), 68 deletions(-)
diff --git a/src/lib/cdev/CDev.hpp b/src/lib/cdev/CDev.hpp
index 4b6e7d314b..cecaa0f3cb 100644
--- a/src/lib/cdev/CDev.hpp
+++ b/src/lib/cdev/CDev.hpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ * Copyright (c) 2012-2018 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
@@ -272,7 +272,7 @@ private:
bool _registered{false}; /**< true if device name was registered */
uint8_t _max_pollwaiters{0}; /**< size of the _pollset array */
- uint8_t _open_count{0}; /**< number of successful opens */
+ uint16_t _open_count{0}; /**< number of successful opens */
/**
* Store a pollwaiter in a slot where we can find it later.
@@ -281,14 +281,14 @@ private:
*
* @return OK, or -errno on error.
*/
- int store_poll_waiter(px4_pollfd_struct_t *fds);
+ inline int store_poll_waiter(px4_pollfd_struct_t *fds);
/**
* Remove a poll waiter.
*
* @return OK, or -errno on error.
*/
- int remove_poll_waiter(px4_pollfd_struct_t *fds);
+ inline int remove_poll_waiter(px4_pollfd_struct_t *fds);
/* do not allow copying this class */
CDev(const CDev &);
diff --git a/src/modules/uORB/uORBCommon.hpp b/src/modules/uORB/uORBCommon.hpp
index c9cb957269..9bb2fe015b 100644
--- a/src/modules/uORB/uORBCommon.hpp
+++ b/src/modules/uORB/uORBCommon.hpp
@@ -34,7 +34,6 @@
#ifndef _uORBCommon_hpp_
#define _uORBCommon_hpp_
-#include <drivers/device/device.h>
#include <drivers/drv_orb_dev.h>
#include <systemlib/err.h>
#include "uORB.h"
@@ -43,7 +42,7 @@
namespace uORB
{
-static const unsigned orb_maxpath = 64;
+static constexpr unsigned orb_maxpath = 64;
struct orb_advertdata {
const struct orb_metadata *meta;
diff --git a/src/modules/uORB/uORBDeviceMaster.cpp b/src/modules/uORB/uORBDeviceMaster.cpp
index f3c1d686b0..c3a821af4f 100644
--- a/src/modules/uORB/uORBDeviceMaster.cpp
+++ b/src/modules/uORB/uORBDeviceMaster.cpp
@@ -61,16 +61,14 @@
UNUSED(node_name_str);
#endif
-using namespace device;
-
uORB::DeviceMaster::DeviceMaster() :
- CDev("obj_master", TOPIC_MASTER_DEVICE_PATH)
+ CDev(TOPIC_MASTER_DEVICE_PATH)
{
_last_statistics_output = hrt_absolute_time();
}
int
-uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
+uORB::DeviceMaster::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
int ret;
@@ -114,8 +112,6 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
*(adv->instance) = group_tries;
}
- const char *objname = meta->o_name; //no need for a copy, meta->o_name will never be freed or changed
-
/* driver wants a permanent copy of the path, so make one here */
const char *devpath = strdup(nodepath);
@@ -124,7 +120,7 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
}
/* construct the new node */
- uORB::DeviceNode *node = new uORB::DeviceNode(meta, objname, devpath, adv->priority);
+ uORB::DeviceNode *node = new uORB::DeviceNode(meta, devpath, adv->priority);
/* if we didn't get a device, that's bad */
if (node == nullptr) {
diff --git a/src/modules/uORB/uORBDeviceMaster.hpp b/src/modules/uORB/uORBDeviceMaster.hpp
index bb73973702..0410a68ca7 100644
--- a/src/modules/uORB/uORBDeviceMaster.hpp
+++ b/src/modules/uORB/uORBDeviceMaster.hpp
@@ -35,6 +35,7 @@
#include <stdint.h>
#include "uORBCommon.hpp"
+#include <lib/cdev/CDev.hpp>
namespace uORB
{
@@ -61,10 +62,10 @@ class Manager;
* Used primarily to create new objects via the ORBIOCCREATE
* ioctl.
*/
-class uORB::DeviceMaster : public device::CDev
+class uORB::DeviceMaster : public cdev::CDev
{
public:
- virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
+ virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
/**
* Public interface for getDeviceNodeLocked(). Takes care of synchronization.
diff --git a/src/modules/uORB/uORBDeviceNode.cpp b/src/modules/uORB/uORBDeviceNode.cpp
index df93ac3da4..3057d65f33 100644
--- a/src/modules/uORB/uORBDeviceNode.cpp
+++ b/src/modules/uORB/uORBDeviceNode.cpp
@@ -49,9 +49,7 @@
#include "uORBCommunicator.hpp"
#endif /* ORB_COMMUNICATOR */
-using namespace device;
-
-uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *filp)
+uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(cdev::file_t *filp)
{
#ifndef __PX4_NUTTX
@@ -63,9 +61,8 @@ uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(device::file_t *f
return (SubscriberData *)(FILE_PRIV(filp));
}
-uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
- int priority, unsigned int queue_size) :
- CDev(name, path),
+uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *path, int priority, unsigned int queue_size) :
+ CDev(path),
_meta(meta),
_priority((uint8_t)priority),
_queue_size(queue_size)
@@ -80,7 +77,7 @@ uORB::DeviceNode::~DeviceNode()
}
int
-uORB::DeviceNode::open(device::file_t *filp)
+uORB::DeviceNode::open(cdev::file_t *filp)
{
int ret;
@@ -152,7 +149,7 @@ uORB::DeviceNode::open(device::file_t *filp)
}
int
-uORB::DeviceNode::close(device::file_t *filp)
+uORB::DeviceNode::close(cdev::file_t *filp)
{
/* is this the publisher closing? */
if (px4_getpid() == _publisher) {
@@ -177,7 +174,7 @@ uORB::DeviceNode::close(device::file_t *filp)
}
ssize_t
-uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
+uORB::DeviceNode::read(cdev::file_t *filp, char *buffer, size_t buflen)
{
SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
@@ -233,7 +230,7 @@ uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
}
ssize_t
-uORB::DeviceNode::write(device::file_t *filp, const char *buffer, size_t buflen)
+uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
{
/*
* Writes are legal from interrupt context as long as the
@@ -301,7 +298,7 @@ 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)
+uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
SubscriberData *sd = filp_to_sd(filp);
@@ -493,7 +490,7 @@ int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, int prior
#endif /* ORB_COMMUNICATOR */
pollevent_t
-uORB::DeviceNode::poll_state(device::file_t *filp)
+uORB::DeviceNode::poll_state(cdev::file_t *filp)
{
SubscriberData *sd = filp_to_sd(filp);
@@ -510,7 +507,7 @@ uORB::DeviceNode::poll_state(device::file_t *filp)
void
uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
{
- SubscriberData *sd = filp_to_sd((device::file_t *)fds->priv);
+ SubscriberData *sd = filp_to_sd((cdev::file_t *)fds->priv);
/*
* If the topic looks updated to the subscriber, go ahead and notify them.
diff --git a/src/modules/uORB/uORBDeviceNode.hpp b/src/modules/uORB/uORBDeviceNode.hpp
index e4c6d97368..9a84943aa4 100644
--- a/src/modules/uORB/uORBDeviceNode.hpp
+++ b/src/modules/uORB/uORBDeviceNode.hpp
@@ -46,23 +46,22 @@ class Manager;
/**
* Per-object device instance.
*/
-class uORB::DeviceNode : public device::CDev
+class uORB::DeviceNode : public cdev::CDev
{
public:
- DeviceNode(const struct orb_metadata *meta, const char *name, const char *path,
- int priority, unsigned int queue_size = 1);
+ DeviceNode(const struct orb_metadata *meta, const char *path, int priority, unsigned int queue_size = 1);
~DeviceNode();
/**
* Method to create a subscriber instance and return the struct
* pointing to the subscriber as a file pointer.
*/
- virtual int open(device::file_t *filp);
+ virtual int open(cdev::file_t *filp);
/**
* Method to close a subscriber for this topic.
*/
- virtual int close(device::file_t *filp);
+ virtual int close(cdev::file_t *filp);
/**
* reads data from a subscriber node to the buffer provided.
@@ -75,7 +74,7 @@ public:
* @return
* ssize_t the number of bytes read.
*/
- virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
+ virtual ssize_t read(cdev::file_t *filp, char *buffer, size_t buflen);
/**
* writes the published data to the internal buffer to be read by
@@ -89,12 +88,12 @@ public:
* @return ssize_t
* The number of bytes that are written
*/
- virtual ssize_t write(device::file_t *filp, const char *buffer, size_t buflen);
+ virtual ssize_t write(cdev::file_t *filp, const char *buffer, size_t buflen);
/**
* IOCTL control for the subscriber.
*/
- virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
+ virtual int ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
/**
* Method to publish a data to this node.
@@ -177,7 +176,7 @@ public:
void set_priority(uint8_t priority) { _priority = priority; }
protected:
- virtual pollevent_t poll_state(device::file_t *filp);
+ virtual pollevent_t poll_state(cdev::file_t *filp);
virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
private:
@@ -211,7 +210,7 @@ private:
uint8_t _queue_size; /**< maximum number of elements in the queue */
int8_t _subscriber_count{0};
- inline static SubscriberData *filp_to_sd(device::file_t *filp);
+ inline static SubscriberData *filp_to_sd(cdev::file_t *filp);
#ifdef __PX4_NUTTX
pid_t _publisher {0}; /**< if nonzero, current publisher. Only used inside the advertise call.
diff --git a/src/modules/uORB/uORBManager.cpp b/src/modules/uORB/uORBManager.cpp
index 3a4e0b676e..fbba90ea45 100644
--- a/src/modules/uORB/uORBManager.cpp
+++ b/src/modules/uORB/uORBManager.cpp
@@ -187,11 +187,8 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
#endif /* ORB_USE_PUBLISHER_RULES */
- int result, fd;
- orb_advert_t advertiser;
-
/* open the node as an advertiser */
- fd = node_open(meta, data, true, instance, priority);
+ int fd = node_open(meta, data, true, instance, priority);
if (fd == PX4_ERROR) {
PX4_ERR("%s advertise failed", meta->o_name);
@@ -201,13 +198,15 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
/* Set the queue size. This must be done before the first publication; thus it fails if
* this is not the first advertiser.
*/
- result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
+ int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
if (result < 0 && queue_size > 1) {
PX4_WARN("orb_advertise_multi: failed to set queue size");
}
/* get the advertiser handle and close the node */
+ orb_advert_t advertiser;
+
result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
px4_close(fd);
@@ -357,7 +356,8 @@ int uORB::Manager::node_open(const struct orb_metadata *meta, const void *data,
int priority)
{
char path[orb_maxpath];
- int fd = -1, ret;
+ int fd = -1;
+ int ret = -1;
/*
* If meta is null, the object was not defined, i.e. it is not
diff --git a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
index 913f776023..8d99a95746 100644
--- a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
+++ b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
@@ -38,6 +38,7 @@
#include <stdio.h>
#include <errno.h>
#include <poll.h>
+#include <lib/cdev/CDev.hpp>
ORB_DEFINE(orb_test, struct orb_test, sizeof(orb_test), "ORB_TEST:int val;hrt_abstime time;");
ORB_DEFINE(orb_multitest, struct orb_test, sizeof(orb_test), "ORB_MULTITEST:int val;hrt_abstime time;");
diff --git a/src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp b/src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
index cafa7896e3..f9ca571944 100644
--- a/src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
+++ b/src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
@@ -43,14 +43,12 @@
#include <px4_time.h>
#include "vcdevtest_example.h"
#include <drivers/drv_device.h>
-#include <drivers/device/device.h>
+#include <lib/cdev/CDev.hpp>
#include <unistd.h>
#include <stdio.h>
px4::AppState VCDevExample::appState;
-using namespace device;
-
#define TESTDEV "/dev/vdevtest"
static bool g_exit = false;
@@ -99,27 +97,27 @@ public:
size_t _read_offset;
};
-class VCDevNode : public CDev
+class VCDevNode : public cdev::CDev
{
public:
VCDevNode() :
- CDev("vcdevtest", TESTDEV),
+ CDev(TESTDEV),
_is_open_for_write(false),
_write_offset(0) {}
~VCDevNode() = default;
- virtual int open(device::file_t *handlep);
- virtual int close(device::file_t *handlep);
- virtual ssize_t write(device::file_t *handlep, const char *buffer, size_t buflen);
- virtual ssize_t read(device::file_t *handlep, char *buffer, size_t buflen);
+ virtual int open(cdev::file_t *handlep);
+ virtual int close(cdev::file_t *handlep);
+ virtual ssize_t write(cdev::file_t *handlep, const char *buffer, size_t buflen);
+ virtual ssize_t read(cdev::file_t *handlep, char *buffer, size_t buflen);
private:
bool _is_open_for_write;
size_t _write_offset;
char _buf[1000];
};
-int VCDevNode::open(device::file_t *handlep)
+int VCDevNode::open(cdev::file_t *handlep)
{
// Only allow one writer
if (_is_open_for_write && (handlep->flags & PX4_F_WRONLY)) {
@@ -142,7 +140,7 @@ int VCDevNode::open(device::file_t *handlep)
return 0;
}
-int VCDevNode::close(device::file_t *handlep)
+int VCDevNode::close(cdev::file_t *handlep)
{
delete (PrivData *)handlep->priv;
handlep->priv = nullptr;
@@ -156,7 +154,7 @@ int VCDevNode::close(device::file_t *handlep)
return 0;
}
-ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buflen)
+ssize_t VCDevNode::write(cdev::file_t *handlep, const char *buffer, size_t buflen)
{
for (size_t i = 0; i < buflen && _write_offset < 1000; i++) {
_buf[_write_offset] = buffer[i];
@@ -169,7 +167,7 @@ ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buf
return buflen;
}
-ssize_t VCDevNode::read(device::file_t *handlep, char *buffer, size_t buflen)
+ssize_t VCDevNode::read(cdev::file_t *handlep, char *buffer, size_t buflen)
{
PrivData *p = (PrivData *)handlep->priv;
ssize_t chars_read = 0;
@@ -289,17 +287,7 @@ int VCDevExample::main()
return -px4_errno;
}
- void *p = nullptr;
- int ret = px4_ioctl(fd, DIOC_GETPRIV, (unsigned long)&p);
-
- if (ret < 0) {
- PX4_INFO("ioctl DIOC_GETPRIV failed %d %d", ret, px4_errno);
- return -px4_errno;
- }
-
- PX4_INFO("priv data = %p %s", p, p == (void *)_node ? "PASS" : "FAIL");
-
- ret = test_pub_block(fd, 1);
+ int ret = test_pub_block(fd, 1);
if (ret < 0) {
return ret;
--
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