From edea1b65cdd14a87ad72f33f0723fc5a2d8ddba2 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 30 Apr 2018 20:54:46 -0400 Subject: [PATCH] uORB delete unused Flavor --- src/modules/uORB/uORBCommon.hpp | 14 +-- src/modules/uORB/uORBDevices.cpp | 47 +++----- src/modules/uORB/uORBDevices.hpp | 6 +- src/modules/uORB/uORBMain.cpp | 2 +- src/modules/uORB/uORBManager.cpp | 108 ++++++++---------- src/modules/uORB/uORBManager.hpp | 43 +++---- src/modules/uORB/uORBUtils.cpp | 18 +-- src/modules/uORB/uORBUtils.hpp | 10 +- .../uORB/uORB_tests/uORBTest_UnitTest.cpp | 7 +- 9 files changed, 95 insertions(+), 160 deletions(-) diff --git a/src/modules/uORB/uORBCommon.hpp b/src/modules/uORB/uORBCommon.hpp index aba7dbdf5e..c9cb957269 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 5a88d366e2..3222ebaae3 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 d92886898c..986b6c7845 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 a0c1bd729b..3e8516ea9e 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 7f6082e8b7..f9a7c2a334 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 9bf093f8e2..cf1a978eed 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 4b4e76c170..fc9a88095f 100644 --- a/src/modules/uORB/uORBUtils.cpp +++ b/src/modules/uORB/uORBUtils.cpp @@ -35,13 +35,7 @@ #include #include -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 176b8fe0aa..a7378ff007 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 f5d443ea40..1537a41129 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(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, ...)