Working on segway controller, restructure of fixedwing.

5 files changed, 2 insertions, 347 deletions

diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp
index 5994d2315..b964d40a3 100644
--- a/src/modules/controllib/block/Block.cpp
+++ b/src/modules/controllib/block/Block.cpp
@@ -43,8 +43,8 @@
 
 #include "Block.hpp"
 #include "BlockParam.hpp"
-#include "UOrbSubscription.hpp"
-#include "UOrbPublication.hpp"
+#include "../uorb/UOrbSubscription.hpp"
+#include "../uorb/UOrbPublication.hpp"
 
 namespace control
 {
diff --git a/src/modules/controllib/block/UOrbPublication.cpp b/src/modules/controllib/block/UOrbPublication.cpp
deleted file mode 100644
index f69b39d90..000000000
--- a/src/modules/controllib/block/UOrbPublication.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file UOrbPublication.cpp
- *
- */
-
-#include "UOrbPublication.hpp"
diff --git a/src/modules/controllib/block/UOrbPublication.hpp b/src/modules/controllib/block/UOrbPublication.hpp
deleted file mode 100644
index 0a8ae2ff7..000000000
--- a/src/modules/controllib/block/UOrbPublication.hpp
+++ /dev/null
@@ -1,118 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file UOrbPublication.h
- *
- */
-
-#pragma once
-
-#include <uORB/uORB.h>
-#include "Block.hpp"
-#include "List.hpp"
-
-
-namespace control
-{
-
-class Block;
-
-/**
- * Base publication warapper class, used in list traversal
- * of various publications.
- */
-class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
-{
-public:
-
-	UOrbPublicationBase(
-		List<UOrbPublicationBase *> * list,
-		const struct orb_metadata *meta) :
-		_meta(meta),
-		_handle(-1) {
-		if (list != NULL) list->add(this);
-	}
-	void update() {
-		if (_handle > 0) {
-			orb_publish(getMeta(), getHandle(), getDataVoidPtr());
-		} else {
-			setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
-		}
-	}
-	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbPublicationBase() {
-		orb_unsubscribe(getHandle());
-	}
-	const struct orb_metadata *getMeta() { return _meta; }
-	int getHandle() { return _handle; }
-protected:
-	void setHandle(orb_advert_t handle) { _handle = handle; }
-	const struct orb_metadata *_meta;
-	orb_advert_t _handle;
-};
-
-/**
- * UOrb Publication wrapper class
- */
-template<class T>
-class UOrbPublication :
-	public T, // this must be first!
-	public UOrbPublicationBase
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param list      A list interface for adding to list during construction
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 */
-	UOrbPublication(
-		List<UOrbPublicationBase *> * list,
-		const struct orb_metadata *meta) :
-		T(), // initialize data structure to zero
-		UOrbPublicationBase(list, meta) {
-	}
-	virtual ~UOrbPublication() {}
-	/*
-	 * XXX
-	 * This function gets the T struct, assuming
-	 * the struct is the first base class, this
-	 * should use dynamic cast, but doesn't
-	 * seem to be available
-	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
-};
-
-} // namespace control
diff --git a/src/modules/controllib/block/UOrbSubscription.cpp b/src/modules/controllib/block/UOrbSubscription.cpp
deleted file mode 100644
index 022cadd24..000000000
--- a/src/modules/controllib/block/UOrbSubscription.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file UOrbSubscription.cpp
- *
- */
-
-#include "UOrbSubscription.hpp"
-
-namespace control
-{
-
-bool __EXPORT UOrbSubscriptionBase::updated()
-{
-	bool isUpdated = false;
-	orb_check(_handle, &isUpdated);
-	return isUpdated;
-}
-
-} // namespace control
diff --git a/src/modules/controllib/block/UOrbSubscription.hpp b/src/modules/controllib/block/UOrbSubscription.hpp
deleted file mode 100644
index 22cc2e114..000000000
--- a/src/modules/controllib/block/UOrbSubscription.hpp
+++ /dev/null
@@ -1,137 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file UOrbSubscription.h
- *
- */
-
-#pragma once
-
-#include <uORB/uORB.h>
-#include "Block.hpp"
-#include "List.hpp"
-
-
-namespace control
-{
-
-class Block;
-
-/**
- * Base subscription warapper class, used in list traversal
- * of various subscriptions.
- */
-class __EXPORT UOrbSubscriptionBase :
-	public ListNode<control::UOrbSubscriptionBase *>
-{
-public:
-// methods
-
-	/**
-	 * Constructor
-	 *
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 */
-	UOrbSubscriptionBase(
-		List<UOrbSubscriptionBase *> * list,
-		const struct orb_metadata *meta) :
-		_meta(meta),
-		_handle() {
-		if (list != NULL) list->add(this);
-	}
-	bool updated();
-	void update() {
-		if (updated()) {
-			orb_copy(_meta, _handle, getDataVoidPtr());
-		}
-	}
-	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbSubscriptionBase() {
-		orb_unsubscribe(_handle);
-	}
-// accessors
-	const struct orb_metadata *getMeta() { return _meta; }
-	int getHandle() { return _handle; }
-protected:
-// accessors
-	void setHandle(int handle) { _handle = handle; }
-// attributes
-	const struct orb_metadata *_meta;
-	int _handle;
-};
-
-/**
- * UOrb Subscription wrapper class
- */
-template<class T>
-class __EXPORT UOrbSubscription :
-	public T, // this must be first!
-	public UOrbSubscriptionBase
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param list      A list interface for adding to list during construction
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 * @param interval  The minimum interval in milliseconds between updates
-	 */
-	UOrbSubscription(
-		List<UOrbSubscriptionBase *> * list,
-		const struct orb_metadata *meta, unsigned interval) :
-		T(), // initialize data structure to zero
-		UOrbSubscriptionBase(list, meta) {
-		setHandle(orb_subscribe(getMeta()));
-		orb_set_interval(getHandle(), interval);
-	}
-
-	/**
-	 * Deconstructor
-	 */
-	virtual ~UOrbSubscription() {}
-
-	/*
-	 * XXX
-	 * This function gets the T struct, assuming
-	 * the struct is the first base class, this
-	 * should use dynamic cast, but doesn't
-	 * seem to be available
-	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
-	T getData() { return T(*this); }
-};
-
-} // namespace control