diff --git a/src/modules/uORB/uORBCommon.hpp b/src/modules/uORB/uORBCommon.hpp
index aba7dbdf5e7eeeaf61f7b38cd5df4e39835af58b..c9cb957269ac26f62bac325bb88703ff163d1350 100644
--- a/src/modules/uORB/uORBCommon.hpp
+++ b/src/modules/uORB/uORBCommon.hpp
@@ -45,23 +45,11 @@ namespace uORB
{
static const unsigned orb_maxpath = 64;
-#ifdef ERROR
-# undef ERROR
-#endif
-/* ERROR is not defined for c++ */
-const int ERROR = -1;
-
-enum Flavor {
- PUBSUB = 0,
- PARAM,
-
- Flavor_count
-};
-
struct orb_advertdata {
const struct orb_metadata *meta;
int *instance;
int priority;
};
+
}
#endif // _uORBCommon_hpp_
diff --git a/src/modules/uORB/uORBDevices.cpp b/src/modules/uORB/uORBDevices.cpp
index 5a88d366e2c8eb789e6512f7f23bec0d2118051d..3222ebaae3575b6a39e0421cb36a5b547a6a5933 100644
--- a/src/modules/uORB/uORBDevices.cpp
+++ b/src/modules/uORB/uORBDevices.cpp
@@ -429,13 +429,13 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
/* check if the device handle is initialized */
if ((devnode == nullptr) || (meta == nullptr)) {
errno = EFAULT;
- return ERROR;
+ return PX4_ERROR;
}
/* check if the orb meta data matches the publication */
if (devnode->_meta != meta) {
errno = EINVAL;
- return ERROR;
+ return PX4_ERROR;
}
/* call the devnode write method with no file pointer */
@@ -443,12 +443,12 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
if (ret < 0) {
errno = -ret;
- return ERROR;
+ return PX4_ERROR;
}
if (ret != (int)meta->o_size) {
errno = EIO;
- return ERROR;
+ return PX4_ERROR;
}
/*
@@ -458,9 +458,8 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
if (ch != nullptr) {
if (ch->send_message(meta->o_name, meta->o_size, (uint8_t *)data) != 0) {
- warnx("[uORB::DeviceNode::publish(%d)]: Error Sending [%s] topic data over comm_channel",
- __LINE__, meta->o_name);
- return ERROR;
+ PX4_ERR("Error Sending [%s] topic data over comm_channel", meta->o_name);
+ return PX4_ERROR;
}
}
@@ -778,7 +777,7 @@ int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
//queue size is limited to 255 for the single reason that we use uint8 to store it
if (_data || _queue_size > queue_size || queue_size > 255) {
- return ERROR;
+ return PX4_ERROR;
}
_queue_size = queue_size;
@@ -815,38 +814,31 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
int16_t ret = -1;
if (length != (int32_t)(_meta->o_size)) {
- warnx("[uORB::DeviceNode::process_received_message(%d)]Error:[%s] Received DataLength[%d] != ExpectedLen[%d]",
- __LINE__, _meta->o_name, (int)length, (int)_meta->o_size);
- return ERROR;
+ PX4_ERR("Received DataLength[%d] != ExpectedLen[%d]", _meta->o_name, (int)length, (int)_meta->o_size);
+ return PX4_ERROR;
}
/* call the devnode write method with no file pointer */
ret = write(nullptr, (const char *)data, _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;
}
-uORB::DeviceMaster::DeviceMaster(Flavor f) :
- CDev((f == PUBSUB) ? "obj_master" : "param_master",
- (f == PUBSUB) ? TOPIC_MASTER_DEVICE_PATH : PARAM_MASTER_DEVICE_PATH),
- _flavor(f)
+uORB::DeviceMaster::DeviceMaster() :
+ CDev("obj_master", TOPIC_MASTER_DEVICE_PATH)
{
_last_statistics_output = hrt_absolute_time();
}
-uORB::DeviceMaster::~DeviceMaster()
-{
-}
-
int
uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
@@ -856,19 +848,16 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
case ORBIOCADVERTISE: {
const struct orb_advertdata *adv = (const struct orb_advertdata *)arg;
const struct orb_metadata *meta = adv->meta;
- const char *objname;
- const char *devpath;
char nodepath[orb_maxpath];
- uORB::DeviceNode *node;
/* construct a path to the node - this also checks the node name */
- ret = uORB::Utils::node_mkpath(nodepath, _flavor, meta, adv->instance);
+ ret = uORB::Utils::node_mkpath(nodepath, meta, adv->instance);
if (ret != PX4_OK) {
return ret;
}
- ret = ERROR;
+ ret = PX4_ERROR;
/* try for topic groups */
const unsigned max_group_tries = (adv->instance != nullptr) ? ORB_MULTI_MAX_INSTANCES : 1;
@@ -895,17 +884,17 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
*(adv->instance) = group_tries;
}
- objname = meta->o_name; //no need for a copy, meta->o_name will never be freed or changed
+ 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 */
- devpath = strdup(nodepath);
+ const char *devpath = strdup(nodepath);
if (devpath == nullptr) {
return -ENOMEM;
}
/* construct the new node */
- node = new uORB::DeviceNode(meta, objname, devpath, adv->priority);
+ uORB::DeviceNode *node = new uORB::DeviceNode(meta, objname, devpath, adv->priority);
/* if we didn't get a device, that's bad */
if (node == nullptr) {
diff --git a/src/modules/uORB/uORBDevices.hpp b/src/modules/uORB/uORBDevices.hpp
index d92886898c443e30cc577a5270049c15655bd773..986b6c78455c5948de7b5d5aae3579959c5bdbd5 100644
--- a/src/modules/uORB/uORBDevices.hpp
+++ b/src/modules/uORB/uORBDevices.hpp
@@ -298,8 +298,8 @@ public:
private:
// Private constructor, uORB::Manager takes care of its creation
- DeviceMaster(Flavor f);
- virtual ~DeviceMaster();
+ DeviceMaster();
+ virtual ~DeviceMaster() = default;
struct DeviceNodeStatisticsData {
DeviceNode *node;
@@ -322,8 +322,6 @@ private:
*/
uORB::DeviceNode *getDeviceNodeLocked(const char *node_name);
- const Flavor _flavor;
-
#ifdef __PX4_NUTTX
ORBMap _node_map;
#else
diff --git a/src/modules/uORB/uORBMain.cpp b/src/modules/uORB/uORBMain.cpp
index a0c1bd729b227a613c07dda022896e24f8d5b2e7..3e8516ea9e3dbf1a838fc466882e8ebaf9598d04 100644
--- a/src/modules/uORB/uORBMain.cpp
+++ b/src/modules/uORB/uORBMain.cpp
@@ -105,7 +105,7 @@ uorb_main(int argc, char *argv[])
}
/* create the driver */
- g_dev = uORB::Manager::get_instance()->get_device_master(uORB::PUBSUB);
+ g_dev = uORB::Manager::get_instance()->get_device_master();
if (g_dev == nullptr) {
return -errno;
diff --git a/src/modules/uORB/uORBManager.cpp b/src/modules/uORB/uORBManager.cpp
index 7f6082e8b7ba1760244fd25622ad123022b81a19..f9a7c2a334711b1a1723a1805547f9509a09916a 100644
--- a/src/modules/uORB/uORBManager.cpp
+++ b/src/modules/uORB/uORBManager.cpp
@@ -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.
diff --git a/src/modules/uORB/uORBManager.hpp b/src/modules/uORB/uORBManager.hpp
index 9bf093f8e289a03d2ff6239dfa41cb701d1f3d2d..cf1a978eed702ab357f63738b873703dee4f2651 100644
--- a/src/modules/uORB/uORBManager.hpp
+++ b/src/modules/uORB/uORBManager.hpp
@@ -79,12 +79,12 @@ public:
}
/**
- * Get the DeviceMaster for a given Flavor. If it does not exist,
+ * Get the DeviceMaster. If it does not exist,
* it will be created and initialized.
* Note: the first call to this is not thread-safe.
* @return nullptr if initialization failed (and errno will be set)
*/
- uORB::DeviceMaster *get_device_master(Flavor flavor);
+ uORB::DeviceMaster *get_device_master();
// ==== uORB interface methods ====
/**
@@ -145,7 +145,7 @@ public:
* and handle different priorities (@see orb_priority()).
* @param queue_size Maximum number of buffered elements. If this is 1, no queuing is
* used.
- * @return ERROR on error, otherwise returns a handle
+ * @return PX4_ERROR on error, otherwise returns a handle
* that can be used to publish to the topic.
* If the topic in question is not known (due to an
* ORB_DEFINE with no corresponding ORB_DECLARE)
@@ -174,7 +174,7 @@ public:
* for the topic.
* @handle The handle returned from orb_advertise.
* @param data A pointer to the data to be published.
- * @return OK on success, ERROR otherwise with errno set accordingly.
+ * @return OK on success, PX4_ERROR otherwise with errno set accordingly.
*/
int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data);
@@ -200,7 +200,7 @@ public:
*
* @param meta The uORB metadata (usually from the ORB_ID() macro)
* for the topic.
- * @return ERROR on error, otherwise returns a handle
+ * @return PX4_ERROR on error, otherwise returns a handle
* that can be used to read and update the topic.
*/
int orb_subscribe(const struct orb_metadata *meta);
@@ -232,7 +232,7 @@ public:
* @param instance The instance of the topic. Instance 0 matches the
* topic of the orb_subscribe() call, higher indices
* are for topics created with orb_advertise_multi().
- * @return ERROR on error, otherwise returns a handle
+ * @return PX4_ERROR on error, otherwise returns a handle
* that can be used to read and update the topic.
* If the topic in question is not known (due to an
* ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE)
@@ -244,7 +244,7 @@ public:
* Unsubscribe from a topic.
*
* @param handle A handle returned from orb_subscribe.
- * @return OK on success, ERROR otherwise with errno set accordingly.
+ * @return OK on success, PX4_ERROR otherwise with errno set accordingly.
*/
int orb_unsubscribe(int handle);
@@ -262,7 +262,7 @@ public:
* @param buffer Pointer to the buffer receiving the data, or NULL
* if the caller wants to clear the updated flag without
* using the data.
- * @return OK on success, ERROR otherwise with errno set accordingly.
+ * @return OK on success, PX4_ERROR otherwise with errno set accordingly.
*/
int orb_copy(const struct orb_metadata *meta, int handle, void *buffer);
@@ -281,7 +281,7 @@ public:
* @param handle A handle returned from orb_subscribe.
* @param updated Set to true if the topic has been updated since the
* last time it was copied using this handle.
- * @return OK if the check was successful, ERROR otherwise with
+ * @return OK if the check was successful, PX4_ERROR otherwise with
* errno set accordingly.
*/
int orb_check(int handle, bool *updated);
@@ -293,7 +293,7 @@ public:
* @param handle A handle returned from orb_subscribe.
* @param time Returns the absolute time that the topic was updated, or zero if it has
* never been updated. Time is measured in microseconds.
- * @return OK on success, ERROR otherwise with errno set accordingly.
+ * @return OK on success, PX4_ERROR otherwise with errno set accordingly.
*/
int orb_stat(int handle, uint64_t *time);
@@ -302,7 +302,7 @@ public:
*
* @param meta ORB topic metadata.
* @param instance ORB instance
- * @return OK if the topic exists, ERROR otherwise.
+ * @return OK if the topic exists, PX4_ERROR otherwise.
*/
int orb_exists(const struct orb_metadata *meta, int instance);
@@ -314,7 +314,7 @@ public:
* topics which are published by multiple publishers (e.g. mag0, mag1, etc.)
* and allows a subscriber to pick the topic with the highest priority,
* independent of the startup order of the associated publishers.
- * @return OK on success, ERROR otherwise with errno set accordingly.
+ * @return OK on success, PX4_ERROR otherwise with errno set accordingly.
*/
int orb_priority(int handle, int32_t *priority);
@@ -334,7 +334,7 @@ public:
*
* @param handle A handle returned from orb_subscribe.
* @param interval An interval period in milliseconds.
- * @return OK on success, ERROR otherwise with ERRNO set accordingly.
+ * @return OK on success, PX4_ERROR otherwise with ERRNO set accordingly.
*/
int orb_set_interval(int handle, unsigned interval);
@@ -346,7 +346,7 @@ public:
*
* @param handle A handle returned from orb_subscribe.
* @param interval The returned interval period in milliseconds.
- * @return OK on success, ERROR otherwise with ERRNO set accordingly.
+ * @return OK on success, PX4_ERROR otherwise with ERRNO set accordingly.
*/
int orb_get_interval(int handle, unsigned *interval);
@@ -393,25 +393,18 @@ private: // class methods
* Handles creation of the object and the initial publication for
* advertisers.
*/
- int
- node_open
- (
- Flavor f,
- const struct orb_metadata *meta,
- const void *data,
- bool advertiser,
- int *instance = nullptr,
- int priority = ORB_PRIO_DEFAULT
- );
+ int node_open(const struct orb_metadata *meta, const void *data, bool advertiser, int *instance = nullptr,
+ int priority = ORB_PRIO_DEFAULT);
private: // data members
static Manager *_Instance;
// the communicator channel instance.
uORBCommunicator::IChannel *_comm_channel;
+
ORBSet _remote_subscriber_topics;
ORBSet _remote_topics;
- DeviceMaster *_device_masters[Flavor_count]; ///< Allow at most one DeviceMaster per Flavor
+ DeviceMaster *_device_master{nullptr};
private: //class methods
Manager();
diff --git a/src/modules/uORB/uORBUtils.cpp b/src/modules/uORB/uORBUtils.cpp
index 4b4e76c1705c3abbe5d3ea267be2d483bad2e476..fc9a88095f2db7d962a50ec14b19a025f772447d 100644
--- a/src/modules/uORB/uORBUtils.cpp
+++ b/src/modules/uORB/uORBUtils.cpp
@@ -35,13 +35,7 @@
#include <stdio.h>
#include <errno.h>
-int uORB::Utils::node_mkpath
-(
- char *buf,
- Flavor f,
- const struct orb_metadata *meta,
- int *instance
-)
+int uORB::Utils::node_mkpath(char *buf, const struct orb_metadata *meta, int *instance)
{
unsigned len;
@@ -51,9 +45,7 @@ int uORB::Utils::node_mkpath
index = *instance;
}
- len = snprintf(buf, orb_maxpath, "/%s/%s%d",
- (f == PUBSUB) ? "obj" : "param",
- meta->o_name, index);
+ len = snprintf(buf, orb_maxpath, "/%s/%s%d", "obj", meta->o_name, index);
if (len >= orb_maxpath) {
return -ENAMETOOLONG;
@@ -64,15 +56,13 @@ int uORB::Utils::node_mkpath
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
-int uORB::Utils::node_mkpath(char *buf, Flavor f,
- const char *orbMsgName)
+int uORB::Utils::node_mkpath(char *buf, const char *orbMsgName)
{
unsigned len;
unsigned index = 0;
- len = snprintf(buf, orb_maxpath, "/%s/%s%d", (f == PUBSUB) ? "obj" : "param",
- orbMsgName, index);
+ len = snprintf(buf, orb_maxpath, "/%s/%s%d", "obj", orbMsgName, index);
if (len >= orb_maxpath) {
return -ENAMETOOLONG;
diff --git a/src/modules/uORB/uORBUtils.hpp b/src/modules/uORB/uORBUtils.hpp
index 176b8fe0aa4be1b22d1b2f3780f6757fec862c34..a7378ff007766661f6bd3693026e41acf376182e 100644
--- a/src/modules/uORB/uORBUtils.hpp
+++ b/src/modules/uORB/uORBUtils.hpp
@@ -43,18 +43,12 @@ class Utils;
class uORB::Utils
{
public:
- static int node_mkpath
- (
- char *buf,
- Flavor f,
- const struct orb_metadata *meta,
- int *instance = nullptr
- );
+ static int node_mkpath(char *buf, const struct orb_metadata *meta, int *instance = nullptr);
/**
* same as above except this generators the path based on the string.
*/
- static int node_mkpath(char *buf, Flavor f, const char *orbMsgName);
+ static int node_mkpath(char *buf, const char *orbMsgName);
};
diff --git a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
index f5d443ea40a60dd6b987d6617066071dc6b51eb6..1537a41129d310fe17d4c93a7f2f75f6d6766bd3 100644
--- a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
+++ b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
@@ -131,7 +131,7 @@ int uORBTest::UnitTest::pubsublatency_main()
if (f == nullptr) {
warnx("Error opening file!\n");
delete[] timings;
- return uORB::ERROR;
+ return PX4_ERROR;
}
for (unsigned i = 0; i < maxruns; i++) {
@@ -148,7 +148,7 @@ int uORBTest::UnitTest::pubsublatency_main()
pubsubtest_passed = true;
if (static_cast<float>(latency_integral / maxruns) > 100.0f) {
- pubsubtest_res = uORB::ERROR;
+ pubsubtest_res = PX4_ERROR;
} else {
pubsubtest_res = PX4_OK;
@@ -825,7 +825,8 @@ int uORBTest::UnitTest::test_fail(const char *fmt, ...)
va_end(ap);
fprintf(stderr, "\n");
fflush(stderr);
- return uORB::ERROR;
+
+ return PX4_ERROR;
}
int uORBTest::UnitTest::test_note(const char *fmt, ...)