QuRT and POSIX changes - part 4

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -43,6 +43,7 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_posix.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -50,8 +51,6 @@
 #include <poll.h>
 #include <fcntl.h>
 #include <float.h>
-#include <sys/prctl.h>
-#include <termios.h>
 #include <errno.h>
 #include <limits.h>
 #include <math.h>
@@ -299,12 +298,12 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	/* Main loop*/
 	while (!thread_should_exit) {
 
-		struct pollfd fds[2];
+		px4_pollfd_struct_t fds[2];
 		fds[0].fd = sub_raw;
 		fds[0].events = POLLIN;
 		fds[1].fd = sub_params;
 		fds[1].events = POLLIN;
-		int ret = poll(fds, 2, 1000);
+		int ret = px4_poll(fds, 2, 1000);
 
 		if (ret < 0) {
 			/* XXX this is seriously bad - should be an emergency */

src/modules/commander/calibration_routines.cpp

@@ -39,6 +39,8 @@
  */
 
 #include <px4_defines.h>
+#include <px4_posix.h>
+#include <px4_time.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <math.h>
@@ -246,7 +248,7 @@ enum detect_orientation_return detect_orientation(int mavlink_fd, int accel_sub)
 	float accel_err_thr = 5.0f;
 	/* still time required in us */
 	hrt_abstime still_time = 2000000;
-	struct pollfd fds[1];
+	px4_pollfd_struct_t fds[1];
 	fds[0].fd = accel_sub;
 	fds[0].events = POLLIN;
 	
@@ -262,7 +264,7 @@ enum detect_orientation_return detect_orientation(int mavlink_fd, int accel_sub)
 	
 	while (true) {
 		/* wait blocking for new data */
-		int poll_ret = poll(fds, 1, 1000);
+		int poll_ret = px4_poll(fds, 1, 1000);
 		
 		if (poll_ret) {
 			orb_copy(ORB_ID(sensor_accel), accel_sub, &sensor);

src/modules/commander/commander.cpp

@@ -43,6 +43,8 @@
  */
 
 #include <px4_config.h>
+#include <px4_posix.h>
+#include <px4_time.h>
 #include <pthread.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -54,7 +56,9 @@
 #include <systemlib/err.h>
 #include <systemlib/circuit_breaker.h>
 //#include <debug.h>
+#ifndef __PX4_QURT
 #include <sys/prctl.h>
+#endif
 #include <sys/stat.h>
 #include <string.h>
 #include <math.h>
@@ -2571,8 +2575,10 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
 
 void *commander_low_prio_loop(void *arg)
 {
+#ifndef __PX4_QURT
 	/* Set thread name */
 	prctl(PR_SET_NAME, "commander_low_prio", getpid());
+#endif
 
 	/* Subscribe to command topic */
 	int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -2583,7 +2589,7 @@ void *commander_low_prio_loop(void *arg)
 	hrt_abstime need_param_autosave_timeout = 0;
 
 	/* wakeup source(s) */
-	struct pollfd fds[1];
+	px4_pollfd_struct_t fds[1];
 
 	/* use the gyro to pace output - XXX BROKEN if we are using the L3GD20 */
 	fds[0].fd = cmd_sub;
@@ -2591,7 +2597,7 @@ void *commander_low_prio_loop(void *arg)
 
 	while (!thread_should_exit) {
 		/* wait for up to 1000ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
+		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
 
 		/* timed out - periodic check for thread_should_exit, etc. */
 		if (pret == 0) {

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -46,6 +46,8 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_tasks.h>
+#include <px4_posix.h>
+#include <px4_time.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -230,10 +232,10 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
 	for (unsigned s = 0; s < 3; s++) {
 		char str[30];
 		(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
-		fd = open(str, O_RDONLY);
+		fd = px4_open(str, O_RDONLY);
 
 		if (fd >= 0) {
-			res = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&_gyro_offsets[s]);
+			res = px4_ioctl(fd, GYROIOCGSCALE, (long unsigned int)&_gyro_offsets[s]);
 			close(fd);
 
 			if (res) {
@@ -242,11 +244,11 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
 		}
 
 		(void)sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
-		fd = open(str, O_RDONLY);
+		fd = px4_open(str, O_RDONLY);
 
 		if (fd >= 0) {
-			res = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&_accel_offsets[s]);
-			close(fd);
+			res = px4_ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&_accel_offsets[s]);
+			px4_close(fd);
 
 			if (res) {
 				warnx("A%u SCALE FAIL", s);
@@ -254,11 +256,11 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
 		}
 
 		(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, s);
-		fd = open(str, O_RDONLY);
+		fd = px4_open(str, O_RDONLY);
 
 		if (fd >= 0) {
-			res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&_mag_offsets[s]);
-			close(fd);
+			res = px4_ioctl(fd, MAGIOCGSCALE, (long unsigned int)&_mag_offsets[s]);
+			px4_close(fd);
 
 			if (res) {
 				warnx("M%u SCALE FAIL", s);
@@ -520,7 +522,7 @@ void AttitudePositionEstimatorEKF::task_main()
 	parameters_update();
 
 	/* wakeup source(s) */
-	struct pollfd fds[2];
+	px4_pollfd_struct_t fds[2];
 
 	/* Setup of loop */
 	fds[0].fd = _params_sub;
@@ -538,7 +540,7 @@ void AttitudePositionEstimatorEKF::task_main()
 	while (!_task_should_exit) {
 
 		/* wait for up to 100ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
 
 		/* timed out - periodic check for _task_should_exit, etc. */
 		if (pret == 0) {

src/modules/systemlib/module.mk

@@ -36,10 +36,8 @@
 #
 
 SRCS		 = err.c \
-		   hx_stream.c \
 		   perf_counter.c \
 		   param/param.c \
-		   bson/tinybson.c \
 		   conversions.c \
 		   cpuload.c \
 		   getopt_long.c \
@@ -52,14 +50,19 @@ SRCS		 = err.c \
 		   otp.c \
 		   board_serial.c \
 		   pwm_limit/pwm_limit.c \
-		   circuit_breaker.cpp \
-		   circuit_breaker_params.c \
 		   mcu_version.c
 
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		+= up_cxxinitialize.c 
 endif
 
+ifneq ($(PX4_TARGET_OS),qurt)
+SRCS 		+= hx_stream.c \
+		   circuit_breaker.cpp \
+		   circuit_breaker_params.c \
+		   bson/tinybson.c
+endif
+
 MAXOPTIMIZATION	 = -Os
 
 EXTRACFLAGS	= -Wno-sign-compare

src/modules/systemlib/otp.c

@@ -71,7 +71,7 @@ int val_read(void *dest, volatile const void *src, int bytes)
 int write_otp(uint8_t id_type, uint32_t vid, uint32_t pid, char *signature)
 {
 
-	warnx("write_otp: PX4 / %02X / %02X / %02X  / ... etc  \n", id_type, vid, pid);
+	warnx("write_otp: PX4 / %02X / %02lX / %02lX  / ... etc  \n", id_type, (unsigned long)vid, (unsigned long)pid);
 
 	int errors = 0;
 

src/modules/systemlib/perf_counter.c

@@ -45,6 +45,10 @@
 #include <math.h>
 #include "perf_counter.h"
 
+#ifdef __PX4_QURT
+#define dprintf(...) 
+#endif
+
 /**
  * Header common to all counters.
  */
@@ -470,7 +474,7 @@ perf_print_latency(int fd)
 {
 	dprintf(fd, "bucket : events\n");
 	for (int i = 0; i < latency_bucket_count; i++) {
-		printf("  %4i : %i\n", latency_buckets[i], latency_counters[i]);
+		printf("  %4i : %li\n", latency_buckets[i], (long int)latency_counters[i]);
 	}
 	// print the overflow bucket value
 	dprintf(fd, " >%4i : %i\n", latency_buckets[latency_bucket_count-1], latency_counters[latency_bucket_count]);

src/modules/systemlib/perf_counter.h

@@ -40,7 +40,7 @@
 #define _SYSTEMLIB_PERF_COUNTER_H value
 
 #include <stdint.h>
-#include <platforms/px4_defines.h>
+#include <px4_defines.h>
 
 /**
  * Counter types.

src/modules/systemlib/rc_check.c

@@ -38,6 +38,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_time.h>
 
 #include <stdio.h>
 #include <unistd.h>

src/modules/systemlib/state_table.h

@@ -51,7 +51,7 @@ public:
 	};
 
 	StateTable(Tran const *table, unsigned nStates, unsigned nSignals)
-	: myTable(table), myNsignals(nSignals), myNstates(nStates) {}
+	: myTable(table), myNsignals(nSignals) {}
 
 	#define NO_ACTION &StateTable::doNothing
 	#define ACTION(_target) StateTable::Action(_target)
@@ -76,7 +76,6 @@ protected:
 private:
 	Tran const *myTable;
 	unsigned myNsignals;
-	unsigned myNstates;
 };
 
 #endif

src/platforms/px4_posix.h

@@ -42,6 +42,7 @@
 #include <px4_defines.h>
 #include <stdint.h>
 #include <sys/types.h>
+#include <unistd.h>
 #include <poll.h>
 #include <semaphore.h>
 
@@ -52,13 +53,18 @@
 #define PX4_DEBUG(...)
 //#define PX4_DEBUG(...) printf(__VA_ARGS__)
 
-__BEGIN_DECLS
+#ifdef __PX4_NUTTX
 
-extern int px4_errno;
+#define px4_pollfd_struct_t struct pollfd
+#define px4_open 	open
+#define px4_close 	close
+#define px4_ioctl 	ioctl
+#define px4_write 	write
+#define px4_read 	read
+#define px4_poll 	poll
 
-#ifndef __PX4_NUTTX
+#else
 typedef short pollevent_t;
-#endif
 
 typedef struct {
   /* This part of the struct is POSIX-like */
@@ -71,15 +77,23 @@ typedef struct {
   void   *priv;     	/* For use by drivers */
 } px4_pollfd_struct_t;
 
+__BEGIN_DECLS
+
 __EXPORT int 		px4_open(const char *path, int flags);
 __EXPORT int 		px4_close(int fd);
 __EXPORT ssize_t	px4_read(int fd, void *buffer, size_t buflen);
 __EXPORT ssize_t	px4_write(int fd, const void *buffer, size_t buflen);
 __EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
 __EXPORT int		px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
-__EXPORT void		px4_show_devices(void);
-__EXPORT void		px4_show_topics(void);
-__EXPORT const char *	px4_get_device_names(unsigned int *handle);
-__EXPORT const char *	px4_get_topic_names(unsigned int *handle);
 
 __END_DECLS
+#endif
+__BEGIN_DECLS
+extern int px4_errno;
+
+__EXPORT void		px4_show_devices(void);
+__EXPORT const char *	px4_get_device_names(unsigned int *handle);
+
+__EXPORT void		px4_show_topics(void);
+__EXPORT const char *	px4_get_topic_names(unsigned int *handle);
+__END_DECLS