camera_trigger: make sure it builds for SITL & add to SITL cmake

cmake/configs/posix_sitl_default.cmake

@@ -4,6 +4,7 @@ set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cma
 
 set(config_module_list
 	drivers/boards/sitl
+	drivers/camera_trigger
 	drivers/device
 	drivers/gps
 	drivers/pwm_out_sim

src/drivers/camera_trigger/camera_trigger.cpp

@@ -49,9 +49,7 @@
 #include <fcntl.h>
 #include <stdbool.h>
 #include <mathlib/mathlib.h>
-#include <nuttx/clock.h>
-#include <nuttx/arch.h>
-#include <nuttx/wqueue.h>
+#include <px4_workqueue.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
@@ -67,6 +65,7 @@
 #include <drivers/drv_hrt.h>
 #include <board_config.h>
 
+#include "interfaces/src/camera_interface.h"
 #include "interfaces/src/pwm.h"
 #include "interfaces/src/relay.h"
 
@@ -74,7 +73,7 @@
 
 extern "C" __EXPORT int camera_trigger_main(int argc, char *argv[]);
 
-typedef enum {
+typedef enum : int32_t {
 	CAMERA_INTERFACE_MODE_NONE = 0,
 	CAMERA_INTERFACE_MODE_RELAY,
 	CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM
@@ -254,15 +253,20 @@ CameraTrigger::CameraTrigger() :
 	param_get(_p_interface, &_camera_interface_mode);
 
 	switch (_camera_interface_mode) {
+#ifdef __PX4_NUTTX
+
 	case CAMERA_INTERFACE_MODE_RELAY:
-		_camera_interface = new CameraInterfaceRelay;
+		_camera_interface = new CameraInterfaceRelay();
 		break;
 
 	case CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM:
-		_camera_interface = new CameraInterfacePWM;
+		_camera_interface = new CameraInterfacePWM();
 		break;
 
+#endif
+
 	default:
+		PX4_ERR("unknown camera interface mode: %i", (int)_camera_interface_mode);
 		break;
 	}
 

src/drivers/camera_trigger/interfaces/src/pwm.cpp

@@ -1,3 +1,5 @@
+#ifdef __PX4_NUTTX
+
 #include <sys/ioctl.h>
 #include <lib/mathlib/mathlib.h>
 
@@ -146,3 +148,5 @@ void CameraInterfacePWM::info()
 {
 	warnx("PWM - interface, pin config: %d,%d,%d", _pins[0] + 1, _pins[1] + 1, _pins[2] + 1);
 }
+
+#endif /* ifdef __PX4_NUTTX */

src/drivers/camera_trigger/interfaces/src/pwm.h

@@ -6,6 +6,8 @@
  */
 #pragma once
 
+#ifdef __PX4_NUTTX
+
 #include <drivers/drv_hrt.h>
 #include <systemlib/param/param.h>
 
@@ -33,3 +35,5 @@ private:
 	bool _camera_is_on;
 
 };
+
+#endif /* ifdef __PX4_NUTTX */

src/drivers/camera_trigger/interfaces/src/relay.cpp

@@ -1,3 +1,4 @@
+#ifdef __PX4_NUTTX
 #include "relay.h"
 
 constexpr uint32_t CameraInterfaceRelay::_gpios[6];
@@ -75,3 +76,5 @@ void CameraInterfaceRelay::info()
 	warnx("Relay - camera triggering, pins 1-3 : %d,%d,%d polarity : %s", _pins[0], _pins[1], _pins[2],
 	      _polarity ? "ACTIVE_HIGH" : "ACTIVE_LOW");
 }
+
+#endif /* ifdef __PX4_NUTTX */

src/drivers/camera_trigger/interfaces/src/relay.h

@@ -6,6 +6,8 @@
  */
 #pragma once
 
+#ifdef __PX4_NUTTX
+
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
 #include <board_config.h>
@@ -43,3 +45,5 @@ private:
 	};
 
 };
+
+#endif /* ifdef __PX4_NUTTX */