ModuleBase add common base type and cleanup

PX4 · Aug 29, 2019 · ce71d52 · ce71d52
1 parent e8dcd8c
commit ce71d52
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Showing 41 changed files with 546 additions and 349 deletions.
diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
@@ -253,6 +253,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /dev"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -306,6 +307,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -373,6 +375,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -437,6 +440,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -504,6 +508,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -571,6 +576,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -644,6 +650,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -705,6 +712,7 @@ pipeline {
                 sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /obj"'
                 sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
                 sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
+                sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
                 sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
                 sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
                 sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -776,6 +784,7 @@ pipeline {
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ls /proc"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
+            sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
             sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'

diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
@@ -49,6 +49,7 @@ px4_add_board(
 		uavcan
 
 	MODULES
+		airspeed_selector
 		attitude_estimator_q
 		camera_feedback
 		commander
@@ -57,7 +58,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -67,11 +67,11 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rover_pos_control
 		sensors
 		sih
 		vmount
 		vtol_att_control
-		airspeed_selector
 
 	SYSTEMCMDS
 		bl_update
@@ -82,6 +82,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake
@@ -49,6 +49,7 @@ px4_add_board(
 		#uavcan
 
 	MODULES
+		airspeed_selector
 		attitude_estimator_q
 		camera_feedback
 		commander
@@ -57,7 +58,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -67,11 +67,11 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rover_pos_control
 		sensors
 		sih
 		vmount
 		vtol_att_control
-		airspeed_selector
 
 	SYSTEMCMDS
 		bl_update
@@ -82,6 +82,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

diff --git a/boards/px4/fmu-v5/critmonitor.cmake b/boards/px4/fmu-v5/critmonitor.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 		uavcan
 
 	MODULES
+		airspeed_selector
 		attitude_estimator_q
 		camera_feedback
 		commander
@@ -71,7 +72,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -81,11 +81,11 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rover_pos_control
 		sensors
 		sih
 		vmount
 		vtol_att_control
-		airspeed_selector
 
 	SYSTEMCMDS
 		bl_update
@@ -97,6 +97,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 		uavcan
 
 	MODULES
+		airspeed_selector
 		attitude_estimator_q
 		camera_feedback
 		commander
@@ -71,7 +72,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -81,11 +81,11 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rover_pos_control
 		sensors
 		sih
 		vmount
 		vtol_att_control
-		airspeed_selector
 
 	SYSTEMCMDS
 		bl_update
@@ -97,6 +97,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

diff --git a/boards/px4/fmu-v5/irqmonitor.cmake b/boards/px4/fmu-v5/irqmonitor.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 		uavcan
 
 	MODULES
+		airspeed_selector
 		attitude_estimator_q
 		camera_feedback
 		commander
@@ -71,7 +72,6 @@ px4_add_board(
 		events
 		fw_att_control
 		fw_pos_control_l1
-		rover_pos_control
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -81,11 +81,11 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		navigator
+		rover_pos_control
 		sensors
 		sih
 		vmount
 		vtol_att_control
-		airspeed_selector
 
 	SYSTEMCMDS
 		bl_update
@@ -97,6 +97,7 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
+		modules
 		motor_ramp
 		motor_test
 		mtd

diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
@@ -56,6 +56,7 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
+		modules
 		motor_ramp
 		#mtd
 		#nshterm

diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -138,8 +138,7 @@ int BATT_SMBUS::task_spawn(int argc, char *argv[])
 			BATT_SMBUS *dev = new BATT_SMBUS(interface, bus_options[i].devpath);
 
 			// Successful read of device type, we've found our battery
-			_object.store(dev);
-			_task_id = task_id_is_work_queue;
+			dev->set_task_id(task_id_is_work_queue);
 
 			int result = dev->get_startup_info();
 

diff --git a/src/drivers/distance_sensor/pga460/pga460.cpp b/src/drivers/distance_sensor/pga460/pga460.cpp
@@ -755,12 +755,9 @@ int PGA460::task_spawn(int argc, char *argv[])
 					 entry_point, (char *const *)argv);
 
 	if (task_id < 0) {
-		task_id = -1;
 		return -errno;
 	}
 
-	_task_id = task_id;
-
 	return PX4_OK;
 }
 

diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
@@ -1076,10 +1076,6 @@ int GPS::task_spawn(int argc, char *argv[], Instance instance)
 		return -errno;
 	}
 
-	if (instance == Instance::Main) {
-		_task_id = task_id;
-	}
-
 	return 0;
 }
 

diff --git a/src/drivers/heater/heater.cpp b/src/drivers/heater/heater.cpp
@@ -272,8 +272,7 @@ int Heater::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(heater);
-	_task_id = task_id_is_work_queue;
+	heater->set_task_id(task_id_is_work_queue);
 
 	heater->start();
 

diff --git a/src/drivers/osd/atxxxx/atxxxx.cpp b/src/drivers/osd/atxxxx/atxxxx.cpp
@@ -86,8 +86,7 @@ OSDatxxxx::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(osd);
-	_task_id = task_id_is_work_queue;
+	osd->set_task_id(task_id_is_work_queue);
 
 	osd->start();
 

diff --git a/src/drivers/osd/atxxxx/atxxxx.h b/src/drivers/osd/atxxxx/atxxxx.h
@@ -78,7 +78,8 @@
 
 extern "C" __EXPORT int atxxxx_main(int argc, char *argv[]);
 
-class OSDatxxxx : public device::SPI, public ModuleBase<OSDatxxxx>, public ModuleParams, public px4::ScheduledWorkItem
+class OSDatxxxx : public device::SPI, public ModuleBase<OSDatxxxx>, public ModuleParams,
+	public px4::ScheduledWorkItem
 {
 public:
 	OSDatxxxx(int bus = OSD_BUS);

diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -562,21 +562,19 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 int
 PWMSim::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("pwm_out_sim",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_ACTUATOR_OUTPUTS,
-				      1100,
-				      (px4_main_t)&run_trampoline,
-				      nullptr);
-
-	if (_task_id < 0) {
-		_task_id = -1;
+	int task_id = px4_task_spawn_cmd("pwm_out_sim",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_ACTUATOR_OUTPUTS,
+					 1100,
+					 (px4_main_t)&run_trampoline,
+					 nullptr);
+
+	if (task_id < 0) {
 		return -errno;
 	}
 
 	// wait until task is up & running (the mode_* commands depend on it)
 	if (wait_until_running() < 0) {
-		_task_id = -1;
 		return -1;
 	}
 

diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
@@ -785,8 +785,7 @@ PX4FMU::task_spawn(int argc, char *argv[])
 	PX4FMU *instance = new PX4FMU();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		instance->set_task_id(task_id_is_work_queue);
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -797,8 +796,6 @@ PX4FMU::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
 
 	return PX4_ERROR;
 }