parameters lib convert to c++ (#10267)

platforms/posix/CMakeLists.txt

@@ -38,6 +38,8 @@ if (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
 			apps.cpp
 		LINK_LIBS
 			-Wl,--start-group
+				px4_layer
+				parameters
 				${module_libraries}
 				${df_driver_libs}
 				${FASTRPC_ARM_LIBS}

platforms/posix/src/px4_layer/CMakeLists.txt

@@ -38,10 +38,9 @@ if("${CONFIG_SHMEM}" STREQUAL "1")
 	include_directories(${HEXAGON_SDK_INCLUDES})
 	include_directories(${PX4_BINARY_DIR}/platforms/posix)
 	list(APPEND SHMEM_SRCS
-		shmem_posix.c
+		shmem_posix.cpp
 	)
-	# TODO: This didn't seem to be tracked correctly from posix_eagle_release.cmake
+	add_definitions(-DCONFIG_SHMEM=1)
-	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DCONFIG_SHMEM")
 	set(EXTRA_DEPENDS generate_px4muorb_stubs)
 endif()
 

platforms/posix/src/px4_layer/px4_posix_impl.cpp

@@ -58,10 +58,6 @@ __BEGIN_DECLS
 
 long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
 
-#ifdef CONFIG_SHMEM
-extern void init_params(void);
-#endif
-
 __END_DECLS
 
 namespace px4
@@ -77,11 +73,6 @@ void init_once()
 	hrt_work_queue_init();
 	hrt_init();
 	param_init();
-
-#ifdef CONFIG_SHMEM
-	PX4_DEBUG("Syncing params to shared memory\n");
-	init_params();
-#endif
 }
 
 void init(int argc, char *argv[], const char *app_name)

platforms/posix/src/px4_layer/shmem_posix.cpp

@@ -69,8 +69,7 @@ struct param_wbuf_s {
 /*update value and param's change bit in shared memory*/
 void update_to_shmem(param_t param, union param_value_u value)
 {
-	if (px4muorb_param_update_to_shmem(param, (unsigned char *) &value,
+	if (px4muorb_param_update_to_shmem(param, (unsigned char *) &value, sizeof(value))) {
-					   sizeof(value))) {
 		PX4_ERR("krait update param %u failed", param);
 	}
 }
@@ -82,14 +81,12 @@ void update_index_from_shmem(void)
 		return;
 	}
 
-	px4muorb_param_update_index_from_shmem(adsp_changed_index,
+	px4muorb_param_update_index_from_shmem(adsp_changed_index, PARAM_BUFFER_SIZE);
-					       PARAM_BUFFER_SIZE);
 }
 
 static void update_value_from_shmem(param_t param, union param_value_u *value)
 {
-	if (px4muorb_param_update_value_from_shmem(param, (unsigned char *) value,
+	if (px4muorb_param_update_value_from_shmem(param, (unsigned char *) value, sizeof(union param_value_u))) {
-			sizeof(union param_value_u))) {
 		PX4_ERR("%s get param failed", __FUNCTION__);
 	}
 }
@@ -128,4 +125,3 @@ int update_from_shmem(param_t param, union param_value_u *value)
 
 	return retval;
 }
-

platforms/qurt/CMakeLists.txt

@@ -43,10 +43,10 @@ else()
 		SOURCES
 			${PX4_BINARY_DIR}/apps.cpp
 		LINK_LIBS
+			modules__muorb__adsp
 			${module_libraries}
 			${df_driver_libs}
 			m
-			modules__muorb__adsp
 		)
 
 	add_custom_target(upload

platforms/qurt/src/px4_layer/CMakeLists.txt

@@ -43,7 +43,7 @@ set(QURT_LAYER_SRCS
 	../../../posix/src/px4_layer/drv_hrt.c
 	qurt_stubs.c
 	main.cpp
-	shmem_qurt.c
+	shmem_qurt.cpp
 	)
 
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")

platforms/qurt/src/px4_layer/px4_qurt_impl.cpp

@@ -71,7 +71,6 @@ unsigned int sleep(unsigned int sec)
 }
 
 extern void hrt_init(void);
-extern void init_params();
 
 #if 0
 void qurt_log(const char *fmt, ...)
@@ -108,9 +107,6 @@ void init_once(void)
 	hrt_work_queue_init();
 	hrt_init();
 	param_init();
-
-	/* Shared memory param sync*/
-	init_params();
 }
 
 void init(int argc, char *argv[], const char *app_name)

platforms/qurt/src/px4_layer/shmem_qurt.cpp

@@ -56,11 +56,11 @@ unsigned char *map_base, *virt_addr;
 struct shmem_info *shmem_info_p;
 int get_shmem_lock(const char *caller_file_name, int caller_line_number);
 void release_shmem_lock(const char *caller_file_name, int caller_line_number);
-void init_shared_memory(void);
+void init_shared_memory();
-void copy_params_to_shmem(struct param_info_s *);
+void copy_params_to_shmem(param_info_s *);
 void update_to_shmem(param_t param, union param_value_u value);
 int update_from_shmem(param_t param, union param_value_u *value);
-void update_index_from_shmem(void);
+void update_index_from_shmem();
 uint64_t update_from_shmem_prev_time = 0, update_from_shmem_current_time = 0;
 static unsigned char krait_changed_index[MAX_SHMEM_PARAMS / 8 + 1];
 
@@ -136,7 +136,7 @@ void init_shared_memory(void)
 	}
 
 	//virt_addr = map_memory(MAP_ADDRESS);
-	map_base = calloc(MAP_SIZE, 1);  //16KB
+	map_base = (unsigned char *)calloc(MAP_SIZE, 1); //16KB
 
 	if (map_base == NULL) {
 		PX4_INFO("adsp memory malloc failed\n");
@@ -153,10 +153,9 @@ void init_shared_memory(void)
 	}
 
 	PX4_INFO("adsp memory mapped\n");
-
 }
 
-void copy_params_to_shmem(struct param_info_s *param_info_base)
+void copy_params_to_shmem(const param_info_s *param_info_base)
 {
 	param_t param;
 	unsigned int i;
@@ -350,4 +349,3 @@ int update_from_shmem(param_t param, union param_value_u *value)
 
 	return retval;
 }
-

src/lib/parameters/CMakeLists.txt

@@ -105,9 +105,10 @@ add_custom_command(OUTPUT px4_parameters.c px4_parameters.h px4_parameters_publi
 set(SRCS)
 if ("${CONFIG_SHMEM}" STREQUAL "1")
 	message(STATUS "parameters shared memory enabled")
-	list(APPEND SRCS param_shmem.c)
+	add_definitions(-DCONFIG_SHMEM=1)
+	list(APPEND SRCS parameters_shmem.cpp)
 else()
-	list(APPEND SRCS param.c)
+	list(APPEND SRCS parameters.cpp)
 endif()
 
 if(${OS} STREQUAL "nuttx")
@@ -136,5 +137,5 @@ endif()
 add_dependencies(parameters prebuild_targets)
 
 if(${OS} STREQUAL "nuttx")
-	target_link_libraries(parameters PRIVATE flashparams)
+	target_link_libraries(parameters PRIVATE flashparams tinybson)
 endif()

src/lib/parameters/flashparams/CMakeLists.txt

@@ -33,7 +33,7 @@
 
 add_library(flashparams
 	flashfs.c
-	flashparams.c
+	flashparams.cpp
 )
 add_dependencies(flashparams prebuild_targets)
 target_compile_definitions(flashparams PRIVATE -DMODULE_NAME="flashparams")

src/lib/parameters/flashparams/flashparams.cpp

@@ -75,21 +75,21 @@ struct param_wbuf_s {
 static int
 param_export_internal(bool only_unsaved)
 {
-	struct param_wbuf_s *s = NULL;
+	struct param_wbuf_s *s = nullptr;
 	struct bson_encoder_s encoder;
 	int     result = -1;
 
 	/* Use realloc */
 
-	bson_encoder_init_buf(&encoder, NULL, 0);
+	bson_encoder_init_buf(&encoder, nullptr, 0);
 
 	/* no modified parameters -> we are done */
-	if (param_values == NULL) {
+	if (param_values == nullptr) {
 		result = 0;
 		goto out;
 	}
 
-	while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != NULL) {
+	while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != nullptr) {
 
 		int32_t i;
 		float   f;
@@ -209,13 +209,13 @@ struct param_import_state {
 };
 
 static int
-param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
+param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
 {
 	float f;
 	int32_t i;
-	void *v, *tmp = NULL;
+	void *v, *tmp = nullptr;
 	int result = -1;
-	struct param_import_state *state = (struct param_import_state *)private;
+	struct param_import_state *state = (struct param_import_state *)priv;
 
 	/*
 	 * EOO means the end of the parameter object. (Currently not supporting
@@ -280,7 +280,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 		/* XXX check actual file data size? */
 		tmp = malloc(param_size(param));
 
-		if (tmp == NULL) {
+		if (tmp == nullptr) {
 			debug("failed allocating for '%s'", node->name);
 			goto out;
 		}
@@ -304,9 +304,9 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 		goto out;
 	}
 
-	if (tmp != NULL) {
+	if (tmp != nullptr) {
 		free(tmp);
-		tmp = NULL;
+		tmp = nullptr;
 	}
 
 	/* don't return zero, that means EOF */
@@ -314,7 +314,7 @@ param_import_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 
 out:
 
-	if (tmp != NULL) {
+	if (tmp != nullptr) {
 		free(tmp);
 	}
 
@@ -353,18 +353,18 @@ out:
 	return result;
 }
 
-int flash_param_save(void)
+int flash_param_save()
 {
 	return param_export_internal(false);
 }
 
-int flash_param_load(void)
+int flash_param_load()
 {
 	param_reset_all();
 	return param_import_internal(true);
 }
 
-int flash_param_import(void)
+int flash_param_import()
 {
 	return -1;
 }

src/lib/parameters/flashparams/flashparams.h

@@ -58,15 +58,15 @@ __BEGIN_DECLS
  * the param_values and 2 functions to be global
  */
 
-#define FLASH_PARAMS_EXPOSE __EXPORT
-
 __EXPORT extern UT_array        *param_values;
 __EXPORT int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes);
 __EXPORT const void *param_get_value_ptr_external(param_t param);
 
 /* The interface hooks to the Flash based storage. The caller is responsible for locking */
-__EXPORT int flash_param_save(void);
+__EXPORT int flash_param_save();
-__EXPORT int flash_param_load(void);
+__EXPORT int flash_param_load();
-__EXPORT int flash_param_import(void);
+__EXPORT int flash_param_import();
+
 __END_DECLS
+
 #endif /* _SYSTEMLIB_FLASHPARAMS_FLASHPARAMS_H */

src/lib/parameters/param.h

@@ -482,21 +482,18 @@ __END_DECLS
 // param is a C-interface. This means there is no overloading, and thus no type-safety for param_get().
 // So for C++ code we redefine param_get() to inlined overloaded versions, which gives us type-safety
 // w/o having to use a different interface
-static inline int param_get_cplusplus(param_t param, float *val)
+static inline int param_get(param_t param, float *val)
 {
 	CHECK_PARAM_TYPE(param, PARAM_TYPE_FLOAT);
-	return param_get(param, val);
+	return param_get(param, (void *)val);
 }
-static inline int param_get_cplusplus(param_t param, int32_t *val)
+static inline int param_get(param_t param, int32_t *val)
 {
 	CHECK_PARAM_TYPE(param, PARAM_TYPE_INT32);
-	return param_get(param, val);
+	return param_get(param, (void *)val);
 }
 #undef CHECK_PARAM_TYPE
 
-#define param_get(param, val) param_get_cplusplus(param, val)
-
-
 #endif /* __cplusplus */
 
 #endif

src/lib/parameters/tinybson/CMakeLists.txt

@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-add_library(tinybson tinybson.c)
+add_library(tinybson tinybson.cpp)
 target_compile_definitions(tinybson PRIVATE -DMODULE_NAME="tinybson")
 target_compile_options(tinybson PRIVATE -Wno-sign-compare) # TODO: fix this
 add_dependencies(tinybson prebuild_targets)

src/lib/parameters/tinybson/tinybson.cpp

@@ -67,7 +67,7 @@ read_x(bson_decoder_t decoder, void *p, size_t s)
 		return (BSON_READ(decoder->fd, p, s) == s) ? 0 : -1;
 	}
 
-	if (decoder->buf != NULL) {
+	if (decoder->buf != nullptr) {
 		/* staged operations to avoid integer overflow for corrupt data */
 		if (s >= decoder->bufsize) {
 			CODER_KILL(decoder, "buffer too small for read");
@@ -116,7 +116,7 @@ bson_decoder_init_file(bson_decoder_t decoder, int fd, bson_decoder_callback cal
 	int32_t	junk;
 
 	decoder->fd = fd;
-	decoder->buf = NULL;
+	decoder->buf = nullptr;
 	decoder->dead = false;
 	decoder->callback = callback;
 	decoder->priv = priv;
@@ -140,7 +140,7 @@ bson_decoder_init_buf(bson_decoder_t decoder, void *buf, unsigned bufsize, bson_
 	int32_t	len;
 
 	/* argument sanity */
-	if ((buf == NULL) || (callback == NULL)) {
+	if ((buf == nullptr) || (callback == nullptr)) {
 		return -1;
 	}
 
@@ -216,7 +216,7 @@ bson_decoder_next(bson_decoder_t decoder)
 		CODER_KILL(decoder, "read error on type byte");
 	}
 
-	decoder->node.type = tbyte;
+	decoder->node.type = (bson_type_t)tbyte;
 	decoder->pending = 0;
 
 	debug("got type byte 0x%02x", decoder->node.type);
@@ -295,7 +295,7 @@ bson_decoder_next(bson_decoder_t decoder)
 				CODER_KILL(decoder, "read error on BSON_BINDATA subtype");
 			}
 
-			decoder->node.subtype = tbyte;
+			decoder->node.subtype = (bson_binary_subtype_t)tbyte;
 			break;
 
 		/* XXX currently not supporting other types */
@@ -339,7 +339,7 @@ write_x(bson_encoder_t encoder, const void *p, size_t s)
 	CODER_CHECK(encoder);
 
 	/* bson file encoder (non-buffered) */
-	if (encoder->fd > -1 && encoder->buf == NULL) {
+	if (encoder->fd > -1 && encoder->buf == nullptr) {
 		return (BSON_WRITE(encoder->fd, p, s) == (int)s) ? 0 : -1;
 	}
 
@@ -371,9 +371,9 @@ write_x(bson_encoder_t encoder, const void *p, size_t s)
 			CODER_KILL(encoder, "fixed-size buffer overflow");
 		}
 
-		uint8_t *newbuf = realloc(encoder->buf, encoder->bufsize + BSON_BUF_INCREMENT);
+		uint8_t *newbuf = (uint8_t *)realloc(encoder->buf, encoder->bufsize + BSON_BUF_INCREMENT);
 
-		if (newbuf == NULL) {
+		if (newbuf == nullptr) {
 			CODER_KILL(encoder, "could not grow buffer");
 		}
 
@@ -429,7 +429,7 @@ int
 bson_encoder_init_file(bson_encoder_t encoder, int fd)
 {
 	encoder->fd = fd;
-	encoder->buf = NULL;
+	encoder->buf = nullptr;
 	encoder->dead = false;
 
 	if (write_int32(encoder, 0)) {
@@ -464,7 +464,7 @@ bson_encoder_init_buf(bson_encoder_t encoder, void *buf, unsigned bufsize)
 	encoder->bufpos = 0;
 	encoder->dead = false;
 
-	if (encoder->buf == NULL) {
+	if (encoder->buf == nullptr) {
 		encoder->bufsize = 0;
 		encoder->realloc_ok = true;
 
@@ -489,7 +489,7 @@ bson_encoder_fini(bson_encoder_t encoder)
 		CODER_KILL(encoder, "write error on document terminator");
 	}
 
-	if (encoder->fd > -1 && encoder->buf != NULL) {
+	if (encoder->fd > -1 && encoder->buf != nullptr) {
 		/* write final buffer to disk */
 		int ret = BSON_WRITE(encoder->fd, encoder->buf, encoder->bufpos);
 
@@ -497,7 +497,7 @@ bson_encoder_fini(bson_encoder_t encoder)
 			CODER_KILL(encoder, "write error");
 		}
 
-	} else if (encoder->buf != NULL) {
+	} else if (encoder->buf != nullptr) {
 		/* update buffer length */
 		int32_t len = bson_encoder_buf_size(encoder);
 		memcpy(encoder->buf, &len, sizeof(len));
@@ -529,7 +529,7 @@ bson_encoder_buf_data(bson_encoder_t encoder)
 	/* note, no CODER_CHECK here as the caller has to clean up dead buffers */
 
 	if (encoder->fd > -1) {
-		return NULL;
+		return nullptr;
 	}
 
 	return encoder->buf;

src/lib/parameters/tinybson/tinybson.h

@@ -58,7 +58,7 @@ typedef enum {
 	BSON_UNDEFINED = 6,
 	BSON_BOOL = 8,
 	BSON_DATE = 9,
-	BSON_NULL = 10,
+	BSON_nullptr = 10,
 	BSON_INT32 = 16,
 	BSON_INT64 = 18
 } bson_type_t;
@@ -198,7 +198,7 @@ __EXPORT int bson_encoder_init_file(bson_encoder_t encoder, int fd);
  *
  * @param encoder		Encoder state structure to be initialised.
  * @param fd			File to write to.
- * @param buf			Buffer pointer to use, can't be NULL
+ * @param buf			Buffer pointer to use, can't be nullptr
  * @param bufsize		Supplied buffer size
  * @return			Zero on success.
  */
@@ -208,7 +208,7 @@ __EXPORT int bson_encoder_init_buf_file(bson_encoder_t encoder, int fd, void *bu
  * Initialze the encoder for writing to a buffer.
  *
  * @param encoder		Encoder state structure to be initialised.
- * @param buf			Buffer pointer to use, or NULL if the buffer
+ * @param buf			Buffer pointer to use, or nullptr if the buffer
  *				should be allocated by the encoder.
  * @param bufsize		Maximum buffer size, or zero for no limit. If
  *				the buffer is supplied, the size of the supplied buffer.

src/systemcmds/tests/CMakeLists.txt

@@ -35,7 +35,7 @@ set(srcs
 	test_adc.c
 	test_autodeclination.cpp
 	test_bezierQuad.cpp
-	test_bson.c
+	test_bson.cpp
 	test_conv.cpp
 	test_dataman.c
 	test_file.c

src/systemcmds/tests/test_bson.cpp

@@ -98,7 +98,7 @@ encode(bson_encoder_t encoder)
 }
 
 static int
-decode_callback(bson_decoder_t decoder, void *private, bson_node_t node)
+decode_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
 {
 	unsigned len;
 
@@ -194,7 +194,7 @@ decode_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 			return 1;
 		}
 
-		if (strcmp(sbuf, sample_string)) {
+		if (strcmp(sbuf, sample_string) != 0) {
 			PX4_ERR("FAIL: decoder: string1 value '%s', expected '%s'", sbuf, sample_string);
 			return 1;
 		}
@@ -268,7 +268,7 @@ test_bson(int argc, char *argv[])
 	int len;
 
 	/* encode data to a memory buffer */
-	if (bson_encoder_init_buf(&encoder, NULL, 0)) {
+	if (bson_encoder_init_buf(&encoder, nullptr, 0)) {
 		PX4_ERR("FAIL: bson_encoder_init_buf");
 		return 1;
 	}
@@ -283,13 +283,13 @@ test_bson(int argc, char *argv[])
 
 	buf = bson_encoder_buf_data(&encoder);
 
-	if (buf == NULL) {
+	if (buf == nullptr) {
 		PX4_ERR("FAIL: bson_encoder_buf_data");
 		return 1;
 	}
 
 	/* now test-decode it */
-	if (bson_decoder_init_buf(&decoder, buf, len, decode_callback, NULL)) {
+	if (bson_decoder_init_buf(&decoder, buf, len, decode_callback, nullptr)) {
 		PX4_ERR("FAIL: bson_decoder_init_buf");
 		return 1;
 	}