various getopt & argc index check fixes

src/drivers/barometer/bmp280/bmp280.cpp

@@ -50,7 +50,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
-#include <getopt.h>
+#include <px4_getopt.h>
 #include <px4_log.h>
 
 #include <nuttx/arch.h>
@@ -849,20 +849,19 @@ usage()
 int
 bmp280_main(int argc, char *argv[])
 {
-	enum BMP280_BUS busid = BMP280_BUS_ALL;
+	int myoptind = 1;
 	int ch;
+	const char *myoptarg = nullptr;
+	enum BMP280_BUS busid = BMP280_BUS_ALL;
 
-	/* jump over start/off/etc and look at options first */
-	while ((ch = getopt(argc, argv, "XISs")) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "XISs", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'X':
 			busid = BMP280_BUS_I2C_EXTERNAL;
 			break;
 
 		case 'I':
 			busid = BMP280_BUS_I2C_INTERNAL;
-			//PX4_ERR("not supported yet");
-			//exit(1);
 			break;
 
 		case 'S':
@@ -875,11 +874,16 @@ bmp280_main(int argc, char *argv[])
 
 		default:
 			bmp280::usage();
-			exit(0);
+			return 0;
 		}
 	}
 
-	const char *verb = argv[optind];
+	if (myoptind >= argc) {
+		bmp280::usage();
+		return -1;
+	}
+
+	const char *verb = argv[myoptind];
 
 	/*
 	 * Start/load the driver.
@@ -910,5 +914,5 @@ bmp280_main(int argc, char *argv[])
 	}
 
 	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
-	exit(1);
+	return -1;
 }

src/drivers/barometer/lps22hb/LPS22HB.hpp

@@ -48,7 +48,6 @@
 #include <uORB/uORB.h>
 
 #include <float.h>
-#include <getopt.h>
 
 static constexpr uint8_t WHO_AM_I = 0x0F;
 static constexpr uint8_t LPS22HB_ID_WHO_AM_I = 0xB1;

src/drivers/barometer/lps22hb/lps22hb_main.cpp

@@ -33,6 +33,8 @@
 
 #include "LPS22HB.hpp"
 
+#include <px4_getopt.h>
+
 #include <cstring>
 
 extern "C" __EXPORT int lps22hb_main(int argc, char *argv[]);
@@ -234,10 +236,13 @@ usage()
 int
 lps22hb_main(int argc, char *argv[])
 {
-	enum LPS22HB_BUS busid = LPS22HB_BUS_ALL;
+	int myoptind = 1;
 	int ch;
+	const char *myoptarg = nullptr;
+
+	enum LPS22HB_BUS busid = LPS22HB_BUS_ALL;
 
-	while ((ch = getopt(argc, argv, "XIS:")) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "XIS:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 #if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
 
@@ -256,11 +261,16 @@ lps22hb_main(int argc, char *argv[])
 
 		default:
 			lps22hb::usage();
-			exit(0);
+			return 0;
 		}
 	}
 
-	const char *verb = argv[optind];
+	if (myoptind >= argc) {
+		lps22hb::usage();
+		return -1;
+	}
+
+	const char *verb = argv[myoptind];
 
 	/*
 	 * Start/load the driver.

src/drivers/barometer/ms5611/ms5611.cpp

@@ -50,7 +50,6 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
-#include <getopt.h>
 
 #include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
@@ -1198,10 +1197,15 @@ ms5611_main(int argc, char *argv[])
 
 		default:
 			ms5611::usage();
-			exit(0);
+			return 0;
 		}
 	}
 
+	if (myoptind >= argc) {
+		ms5611::usage();
+		return -1;
+	}
+
 	const char *verb = argv[myoptind];
 
 	/*
@@ -1232,5 +1236,6 @@ ms5611_main(int argc, char *argv[])
 		ms5611::info();
 	}
 
-	errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognised command, try 'start', 'test', 'reset' or 'info'");
+	return -1;
 }

src/drivers/differential_pressure/ets/ets_airspeed.cpp

@@ -46,6 +46,7 @@
 #include <systemlib/err.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
+#include <px4_getopt.h>
 
 #include <drivers/drv_airspeed.h>
 #include <drivers/drv_hrt.h>
@@ -357,38 +358,48 @@ ets_airspeed_main(int argc, char *argv[])
 {
 	int i2c_bus = PX4_I2C_BUS_DEFAULT;
 
-	int i;
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
 
-	for (i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
-			if (argc > i + 1) {
-				i2c_bus = atoi(argv[i + 1]);
-			}
+	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'b':
+			i2c_bus = atoi(myoptarg);
+			break;
+
+		default:
+			ets_airspeed_usage();
+			return 0;
 		}
 	}
 
+	if (myoptind >= argc) {
+		ets_airspeed_usage();
+		return -1;
+	}
+
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(argv[1], "start")) {
+	if (!strcmp(argv[myoptind], "start")) {
 		return ets_airspeed::start(i2c_bus);
 	}
 
 	/*
 	 * Stop the driver
 	 */
-	if (!strcmp(argv[1], "stop")) {
+	if (!strcmp(argv[myoptind], "stop")) {
 		return ets_airspeed::stop();
 	}
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset")) {
+	if (!strcmp(argv[myoptind], "reset")) {
 		return ets_airspeed::reset();
 	}
 
 	ets_airspeed_usage();
-
-	return PX4_OK;
+	return 0;
 }

src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp

@@ -50,6 +50,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_getopt.h>
 
 #include <drivers/device/i2c.h>
 
@@ -493,38 +494,48 @@ ms4525_airspeed_main(int argc, char *argv[])
 {
 	int i2c_bus = PX4_I2C_BUS_DEFAULT;
 
-	int i;
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
 
-	for (i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
-			if (argc > i + 1) {
-				i2c_bus = atoi(argv[i + 1]);
-			}
+	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'b':
+			i2c_bus = atoi(myoptarg);
+			break;
+
+		default:
+			meas_airspeed_usage();
+			return 0;
 		}
 	}
 
+	if (myoptind >= argc) {
+		meas_airspeed_usage();
+		return -1;
+	}
+
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(argv[1], "start")) {
+	if (!strcmp(argv[myoptind], "start")) {
 		return meas_airspeed::start(i2c_bus);
 	}
 
 	/*
 	 * Stop the driver
 	 */
-	if (!strcmp(argv[1], "stop")) {
+	if (!strcmp(argv[myoptind], "stop")) {
 		return meas_airspeed::stop();
 	}
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset")) {
+	if (!strcmp(argv[myoptind], "reset")) {
 		return meas_airspeed::reset();
 	}
 
 	meas_airspeed_usage();
-
-	return PX4_OK;
+	return 0;
 }

src/drivers/differential_pressure/ms5525/MS5525_main.cpp

@@ -33,6 +33,8 @@
 
 #include "MS5525.hpp"
 
+#include <px4_getopt.h>
+
 // Driver 'main' command.
 extern "C" __EXPORT int ms5525_airspeed_main(int argc, char *argv[]);
 
@@ -151,36 +153,48 @@ ms5525_airspeed_main(int argc, char *argv[])
 {
 	uint8_t i2c_bus = PX4_I2C_BUS_DEFAULT;
 
-	for (int i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
-			if (argc > i + 1) {
-				i2c_bus = atoi(argv[i + 1]);
-			}
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+
+	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'b':
+			i2c_bus = atoi(myoptarg);
+			break;
+
+		default:
+			ms5525_airspeed_usage();
+			return 0;
 		}
 	}
 
+	if (myoptind >= argc) {
+		ms5525_airspeed_usage();
+		return -1;
+	}
+
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(argv[1], "start")) {
+	if (!strcmp(argv[myoptind], "start")) {
 		return ms5525_airspeed::start(i2c_bus);
 	}
 
 	/*
 	 * Stop the driver
 	 */
-	if (!strcmp(argv[1], "stop")) {
+	if (!strcmp(argv[myoptind], "stop")) {
 		return ms5525_airspeed::stop();
 	}
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset")) {
+	if (!strcmp(argv[myoptind], "reset")) {
 		return ms5525_airspeed::reset();
 	}
 
 	ms5525_airspeed_usage();
-
-	return PX4_OK;
+	return 0;
 }