circuit breaker: move to cpp, all platforms use the same file

CMakeLists.txt

@@ -122,7 +122,7 @@ add_library(px4
   src/platforms/ros/perf_counter.cpp
   src/platforms/ros/geo.cpp
   src/lib/mathlib/math/Limits.cpp
-  src/platforms/ros/circuit_breaker.cpp
+  src/modules/systemlib/circuit_breaker.cpp
 )
 
 target_link_libraries(px4

src/modules/systemlib/circuit_breaker.cpp

@@ -43,13 +43,13 @@
  */
 
 #include <px4.h>
-#include <systemlib/circuit_breaker_params.h>
 #include <systemlib/circuit_breaker.h>
 
 bool circuit_breaker_enabled(const char* breaker, int32_t magic)
 {
 	int32_t val;
-	(void)PX4_PARAM_GET(breaker, &val);
+	/* (void)param_get(param_find(breaker), &val); */
+	(void)PX4_PARAM_GET_NAME(breaker, &val);
 
 	return (val == magic);
 }

src/modules/systemlib/circuit_breaker.h

@@ -61,14 +61,8 @@
 
 __BEGIN_DECLS
 
-#ifdef __cplusplus
+extern "C" __EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic);
-extern "C" {
+
-#endif
-__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic);
-#ifdef __cplusplus
-}
-#endif
-__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic);
 __END_DECLS
 
 #endif /* CIRCUIT_BREAKER_H_ */

src/modules/systemlib/circuit_breaker_params.c

@@ -44,7 +44,6 @@
 
 #include <px4.h>
 #include <systemlib/circuit_breaker_params.h>
-#include <systemlib/circuit_breaker.h>
 
 /**
  * Circuit breaker for power supply check
@@ -122,26 +121,3 @@ PX4_PARAM_DEFINE_INT32(CBRK_FLIGHTTERM);
  * @group Circuit Breaker
  */
 PX4_PARAM_DEFINE_INT32(CBRK_ENGINEFAIL);
-
-/**
- * Circuit breaker for gps failure detection
- *
- * Setting this parameter to 240024 will disable the gps failure detection.
- * If the aircraft is in gps failure mode the gps failure flag will be
- * set to healthy
- * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
- *
- * @min 0
- * @max 240024
- * @group Circuit Breaker
- */
-PX4_PARAM_DEFINE_INT32(CBRK_GPSFAIL);
-
-bool circuit_breaker_enabled(const char* breaker, int32_t magic)
-{
-	int32_t val;
-	(void)param_get(param_find(breaker), &val);
-
-	return (val == magic);
-}
-

src/modules/systemlib/module.mk

@@ -53,7 +53,8 @@ SRCS		 = err.c \
 		   otp.c \
 		   board_serial.c \
 		   pwm_limit/pwm_limit.c \
-		   circuit_breaker.c \
+		   circuit_breaker.cpp \
+		   circuit_breaker_params.c \
 		   mcu_version.c
 
 MAXOPTIMIZATION	 = -Os