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Clean up of app.h

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app.h, generated from app.h_in, has unnecessary code duplication
and isn't a header file (it defines globals, static functions
and doesn't have a header guard, moreover, it has a 'using namespace
std;'). Because of this, a real headerfile that declares the stuff
defined in apps.h was missing leading to even more code duplication:
scattered forward declarations in .cpp files and an often repeated
type of std::map<std::string, px4_main_t>.

This patch moves cmake/qurt/apps.h_in to src/platforms/apps.cpp.in
(with some changes) and removes cmake/posix/apps.h_in.
Then src/platforms/apps.cpp.in is split into src/platforms/apps.cpp.in
and src/platforms/apps.h.in, splitting declarations from definitions.

A typedef is defined for the map (apps_map_type).

The main difference between cmake/posix/apps.h_in and
cmake/qurt/apps.h_in was that the first defined a global 'apps',
while qurt stores the apps in QShell. I opted to get rid of
the global variable (which are in general evil for various reasons)
and used the API of cmake/qurt/apps.h_in where a provided 'apps'
map is initialized with a call to init_app_map. Thus removing
the existing code duplication.
This commit is contained in:
Carlo Wood
2016-10-21 15:54:48 +02:00
committed by Julian Oes
parent c200ef88ed
commit 6fc30c76a6
12 changed files with 143 additions and 209 deletions
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88
cmake/posix/apps.h_in
View File

@@ -1,88 +0,0 @@
/* builtin command list - automatically generated, do not edit */
#include <string>
#include <map>
#include <stdio.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_log.h>
#include <stdlib.h>
using namespace std;
extern void px4_show_devices(void);
extern "C" {
${builtin_apps_decl_string}
static int shutdown_main(int argc, char *argv[]);
static int list_tasks_main(int argc, char *argv[]);
static int list_files_main(int argc, char *argv[]);
static int list_devices_main(int argc, char *argv[]);
static int list_topics_main(int argc, char *argv[]);
static int sleep_main(int argc, char *argv[]);
}
static map<string,px4_main_t> app_map(void)
{
static map<string,px4_main_t> apps;
${builtin_apps_string}
apps["shutdown"] = shutdown_main;
apps["list_tasks"] = list_tasks_main;
apps["list_files"] = list_files_main;
apps["list_devices"] = list_devices_main;
apps["list_topics"] = list_topics_main;
apps["sleep"] = sleep_main;
return apps;
}
map<string,px4_main_t> apps = app_map();
static void list_builtins(void)
{
cout << "Builtin Commands:" << endl;
for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
cout << '\t' << it->first << endl;
}
static int shutdown_main(int argc, char *argv[])
{
printf("Shutting down\n");
exit(0);
}
static int list_tasks_main(int argc, char *argv[])
{
px4_show_tasks();
return 0;
}
static int list_devices_main(int argc, char *argv[])
{
px4_show_devices();
return 0;
}
static int list_topics_main(int argc, char *argv[])
{
px4_show_topics();
return 0;
}
static int list_files_main(int argc, char *argv[])
{
px4_show_files();
return 0;
}
static int sleep_main(int argc, char *argv[])
{
if (argc != 2) {
cout << "Usage: sleep <seconds>" << endl;
return 1;
}
sleep(atoi(argv[1]));
return 0;
}

10
cmake/posix/px4_impl_posix.cmake
View File

@@ -66,7 +66,7 @@ list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
# MODULE_LIST : list of modules
#
# Output:
# OUT : generated builtin_commands.c src
# OUT : stem of generated apps.cpp/apps.h ("apps")
#
# Example:
# px4_posix_generate_builtin_commands(
@@ -97,12 +97,14 @@ function(px4_posix_generate_builtin_commands)
set(builtin_apps_string
"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
set(builtin_apps_decl_string
"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
configure_file(${PX4_SOURCE_DIR}/cmake/posix/apps.h_in
${OUT})
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in
${OUT}.cpp)
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in
${OUT}.h)
endfunction()
#=============================================================================

84
cmake/qurt/apps.h_in
View File

@@ -1,84 +0,0 @@
/* builtin command list - automatically generated, do not edit */
#include <string>
#include <map>
#include <stdio.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_log.h>
#include <stdlib.h>
using namespace std;
extern void px4_show_devices(void);
extern "C" {
${builtin_apps_decl_string}
static int shutdown_main(int argc, char *argv[]);
static int list_tasks_main(int argc, char *argv[]);
static int list_files_main(int argc, char *argv[]);
static int list_devices_main(int argc, char *argv[]);
static int list_topics_main(int argc, char *argv[]);
static int sleep_main(int argc, char *argv[]);
}
void init_app_map(map<string,px4_main_t> &apps)
{
${builtin_apps_string}
apps["shutdown"] = shutdown_main;
apps["list_tasks"] = list_tasks_main;
apps["list_files"] = list_files_main;
apps["list_devices"] = list_devices_main;
apps["list_topics"] = list_topics_main;
apps["sleep"] = sleep_main;
}
void list_builtins(map<string,px4_main_t> &apps)
{
PX4_INFO("Builtin Commands:\\n");
for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
PX4_INFO("%s : 0x%x\n", (it->first).c_str(), it->second);
}
static int shutdown_main(int argc, char *argv[])
{
printf("Shutting down\\n");
exit(0);
}
static int list_tasks_main(int argc, char *argv[])
{
px4_show_tasks();
return 0;
}
static int list_devices_main(int argc, char *argv[])
{
px4_show_devices();
return 0;
}
static int list_topics_main(int argc, char *argv[])
{
px4_show_topics();
return 0;
}
static int list_files_main(int argc, char *argv[])
{
px4_show_files();
return 0;
}
static int sleep_main(int argc, char *argv[])
{
if (argc != 2) {
PX4_WARN( "Usage: sleep <seconds>" );
return 1;
}
unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
usleep( usecs );
return 0;
}

9
cmake/qurt/px4_impl_qurt.cmake
View File

@@ -67,7 +67,7 @@ list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
# MODULE_LIST : list of modules
#
# Output:
# OUT : generated builtin_commands.c src
# OUT : stem of generated apps.cpp/apps.h ("apps").
#
# Example:
# px4_qurt_generate_builtin_commands(
@@ -91,11 +91,14 @@ function(px4_qurt_generate_builtin_commands)
set(builtin_apps_string
"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
set(builtin_apps_decl_string
"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
configure_file(${PX4_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in
${OUT}.cpp)
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in
${OUT}.h)
endfunction()
#=============================================================================