Rework the ringbuffer class so that it's not templated, and refactor its clients so they aren't dancing around the linker anymore.

1 files changed, 37 insertions, 48 deletions

diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 997b80fab..a90cd0a3d 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -219,19 +219,8 @@ private:
 	unsigned		_call_accel_interval;
 	unsigned		_call_mag_interval;
 
-	/*
-	  these wrapper types are needed to avoid a linker error for
-	  RingBuffer instances which appear in two drivers.
-	 */
-	struct _accel_report {
-		struct accel_report r;
-	};
-	RingBuffer<struct _accel_report> *_accel_reports;
-
-	struct _mag_report {
-		struct mag_report r;
-	};
-	RingBuffer<struct _mag_report> *_mag_reports;
+	RingBuffer		*_accel_reports;
+	RingBuffer		*_mag_reports;
 
 	struct accel_scale	_accel_scale;
 	unsigned		_accel_range_m_s2;
@@ -499,7 +488,7 @@ LSM303D::init()
 	}
 
 	/* allocate basic report buffers */
-	_accel_reports = new RingBuffer<struct _accel_report>(2);
+	_accel_reports = new RingBuffer(2, sizeof(accel_report));
 
 	if (_accel_reports == nullptr)
 		goto out;
@@ -509,7 +498,7 @@ LSM303D::init()
 	memset(&zero_report, 0, sizeof(zero_report));
 	_accel_topic = orb_advertise(ORB_ID(sensor_accel), &zero_report);
 
-	_mag_reports = new RingBuffer<struct _mag_report>(2);
+	_mag_reports = new RingBuffer(2, sizeof(mag_report));
 
 	if (_mag_reports == nullptr)
 		goto out;
@@ -579,7 +568,7 @@ ssize_t
 LSM303D::read(struct file *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(struct accel_report);
-	struct _accel_report *arb = reinterpret_cast<struct _accel_report *>(buffer);
+	accel_report *arb = reinterpret_cast<accel_report *>(buffer);
 	int ret = 0;
 
 	/* buffer must be large enough */
@@ -592,7 +581,7 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen)
 		 * While there is space in the caller's buffer, and reports, copy them.
 		 */
 		while (count--) {
-			if (_accel_reports->get(*arb)) {
+			if (_accel_reports->get(arb)) {
 				ret += sizeof(*arb);
 				arb++;
 			}
@@ -606,7 +595,7 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen)
 	measure();
 
 	/* measurement will have generated a report, copy it out */
-	if (_accel_reports->get(*arb))
+	if (_accel_reports->get(arb))
 		ret = sizeof(*arb);
 
 	return ret;
@@ -616,7 +605,7 @@ ssize_t
 LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
 {
 	unsigned count = buflen / sizeof(struct mag_report);
-	struct _mag_report *mrb = reinterpret_cast<struct _mag_report *>(buffer);
+	mag_report *mrb = reinterpret_cast<mag_report *>(buffer);
 	int ret = 0;
 
 	/* buffer must be large enough */
@@ -630,7 +619,7 @@ LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
 		 * While there is space in the caller's buffer, and reports, copy them.
 		 */
 		while (count--) {
-			if (_mag_reports->get(*mrb)) {
+			if (_mag_reports->get(mrb)) {
 				ret += sizeof(*mrb);
 				mrb++;
 			}
@@ -645,7 +634,7 @@ LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
 	measure();
 
 	/* measurement will have generated a report, copy it out */
-	if (_mag_reports->get(*mrb))
+	if (_mag_reports->get(mrb))
 		ret = sizeof(*mrb);
 
 	return ret;
@@ -1237,7 +1226,7 @@ LSM303D::measure()
 	} raw_accel_report;
 #pragma pack(pop)
 
-	struct _accel_report accel_report;
+	accel_report accel_report;
 
 	/* start the performance counter */
 	perf_begin(_accel_sample_perf);
@@ -1262,30 +1251,30 @@ LSM303D::measure()
 	 */
 
 
-	accel_report.r.timestamp = hrt_absolute_time();
+	accel_report.timestamp = hrt_absolute_time();
 
-	accel_report.r.x_raw = raw_accel_report.x;
-	accel_report.r.y_raw = raw_accel_report.y;
-	accel_report.r.z_raw = raw_accel_report.z;
+	accel_report.x_raw = raw_accel_report.x;
+	accel_report.y_raw = raw_accel_report.y;
+	accel_report.z_raw = raw_accel_report.z;
 
-	float x_in_new = ((accel_report.r.x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
-	float y_in_new = ((accel_report.r.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
-	float z_in_new = ((accel_report.r.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
+	float x_in_new = ((accel_report.x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
+	float y_in_new = ((accel_report.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
+	float z_in_new = ((accel_report.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
 
-	accel_report.r.x = _accel_filter_x.apply(x_in_new);
-	accel_report.r.y = _accel_filter_y.apply(y_in_new);
-	accel_report.r.z = _accel_filter_z.apply(z_in_new);
+	accel_report.x = _accel_filter_x.apply(x_in_new);
+	accel_report.y = _accel_filter_y.apply(y_in_new);
+	accel_report.z = _accel_filter_z.apply(z_in_new);
 
-	accel_report.r.scaling = _accel_range_scale;
-	accel_report.r.range_m_s2 = _accel_range_m_s2;
+	accel_report.scaling = _accel_range_scale;
+	accel_report.range_m_s2 = _accel_range_m_s2;
 
-	_accel_reports->force(accel_report);
+	_accel_reports->force(&accel_report);
 
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 
 	/* publish for subscribers */
-	orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report.r);
+	orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
 
 	_accel_read++;
 
@@ -1307,7 +1296,7 @@ LSM303D::mag_measure()
 	} raw_mag_report;
 #pragma pack(pop)
 
-	struct _mag_report mag_report;
+	mag_report mag_report;
 
 	/* start the performance counter */
 	perf_begin(_mag_sample_perf);
@@ -1332,25 +1321,25 @@ LSM303D::mag_measure()
 	 */
 
 
-	mag_report.r.timestamp = hrt_absolute_time();
+	mag_report.timestamp = hrt_absolute_time();
 
-	mag_report.r.x_raw = raw_mag_report.x;
-	mag_report.r.y_raw = raw_mag_report.y;
-	mag_report.r.z_raw = raw_mag_report.z;
-	mag_report.r.x = ((mag_report.r.x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale;
-	mag_report.r.y = ((mag_report.r.y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
-	mag_report.r.z = ((mag_report.r.z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
-	mag_report.r.scaling = _mag_range_scale;
-	mag_report.r.range_ga = (float)_mag_range_ga;
+	mag_report.x_raw = raw_mag_report.x;
+	mag_report.y_raw = raw_mag_report.y;
+	mag_report.z_raw = raw_mag_report.z;
+	mag_report.x = ((mag_report.x_raw * _mag_range_scale) - _mag_scale.x_offset) * _mag_scale.x_scale;
+	mag_report.y = ((mag_report.y_raw * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
+	mag_report.z = ((mag_report.z_raw * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
+	mag_report.scaling = _mag_range_scale;
+	mag_report.range_ga = (float)_mag_range_ga;
 
-	_mag_reports->force(mag_report);
+	_mag_reports->force(&mag_report);
 
 	/* XXX please check this poll_notify, is it the right one? */
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 
 	/* publish for subscribers */
-	orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report.r);
+	orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report);
 
 	_mag_read++;