move posix, nuttx, qurt components into platforms

CMakeLists.txt

@@ -397,6 +397,8 @@ endif()
 #=============================================================================
 # subdirectories
 #
+add_subdirectory(src/platforms/common)
+
 foreach(module ${config_module_list})
 	add_subdirectory(src/${module})
 endforeach()

Tools/astyle/files_to_check_code_style.sh

@@ -8,9 +8,9 @@ then
     PATTERN="$1"
 fi
 
-exec find src \
+exec find src platforms \
-    -path src/examples/attitude_estimator_ekf -prune -o \
+    -path platforms/nuttx/NuttX -prune -o \
-    -path src/examples/ekf_att_pos_estimator -prune -o \
+    -path platforms/nuttx/nuttx-configs -prune -o \
     -path src/lib/DriverFramework -prune -o \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \

cmake/configs/nuttx_aerocore2_default.cmake

@@ -126,11 +126,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -87,7 +87,4 @@ set(config_module_list
 	lib/rc
 	lib/tailsitter_recovery
 	lib/version
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
 )

cmake/configs/nuttx_auav-x21_default.cmake

@@ -137,11 +137,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge

cmake/configs/nuttx_crazyflie_default.cmake

@@ -93,11 +93,6 @@ set(config_module_list
 	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge

cmake/configs/nuttx_esc35-v1_default.cmake

@@ -71,7 +71,4 @@ set(config_module_list
 	modules/systemlib
 	modules/systemlib/param
 	modules/uORB
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
 )

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -141,11 +141,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge

cmake/configs/nuttx_nxphlite-v3_default.cmake

@@ -150,13 +150,6 @@ set(config_module_list
 	lib/version
 	lib/DriverFramework/framework
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_px4-same70xplained-v1_default.cmake

@@ -119,11 +119,6 @@ set(config_module_list
 	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge

cmake/configs/nuttx_px4-stm32f4discovery_default.cmake

@@ -43,11 +43,6 @@ set(config_module_list
 	lib/mathlib/math/filter
 	lib/mixer
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# Demo apps

cmake/configs/nuttx_px4cannode-v1_default.cmake

@@ -63,7 +63,5 @@ set(config_module_list
 	modules/systemlib
 	modules/systemlib/param
 	modules/uORB
-	platforms/common
+
-	platforms/nuttx
-	platforms/nuttx/px4_layer
 )

cmake/configs/nuttx_px4esc-v1_default.cmake

@@ -72,7 +72,5 @@ set(config_module_list
 	modules/systemlib
 	modules/systemlib/param
 	modules/uORB
-	platforms/common
+
-	platforms/nuttx
-	platforms/nuttx/px4_layer
 )

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -154,13 +154,6 @@ set(config_module_list
 	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -138,11 +138,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -155,13 +155,6 @@ set(config_module_list
 	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -148,13 +148,6 @@ set(config_module_list
 	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -147,13 +147,6 @@ set(config_module_list
 	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -149,13 +149,6 @@ set(config_module_list
 	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/nuttx
-	platforms/nuttx/px4_layer
-
 	#
 	# OBC challenge
 	#

cmake/configs/nuttx_px4io-v2_default.cmake

@@ -7,5 +7,4 @@ set(config_module_list
 	lib/mixer
 	lib/rc
 	modules/px4iofirmware
-	platforms/common
 )

cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake

@@ -126,11 +126,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 
 	#
 	# OBC challenge

cmake/configs/nuttx_s2740vc-v1_default.cmake

@@ -60,12 +60,4 @@ set(config_module_list
 	modules/systemlib/param
 	modules/systemlib
 	lib/version
-
-	#
-	# Libraries
-	#
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/nuttx
-	platforms/common
-	platforms/nuttx/px4_layer
 )

cmake/configs/nuttx_tap-v1_default.cmake

@@ -102,9 +102,4 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/tunes
 	lib/version
-	platforms/nuttx
-
-	# had to add for cmake, not sure why wasn't in original config
-	platforms/common
-	platforms/nuttx/px4_layer
 )

cmake/configs/posix_bebop_default.cmake

@@ -85,13 +85,6 @@ set(config_module_list
 	lib/tailsitter_recovery
 	lib/terrain_estimation
 	lib/version
-
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 )
 
 set(config_df_driver_list

cmake/configs/posix_eagle_hil.cmake

@@ -48,9 +48,6 @@ set(config_module_list
 	lib/version
 	lib/DriverFramework/framework
 
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 	modules/muorb/krait
 	)
 

cmake/configs/posix_eagle_muorb.cmake

@@ -19,9 +19,6 @@ set(config_module_list
 
 	lib/DriverFramework/framework
 
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-
 	modules/muorb/krait
 	)
 

cmake/configs/posix_ocpoc_cross.cmake

@@ -96,13 +96,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/version
 	
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	
 	examples/px4_simple_app
 )
 

cmake/configs/posix_ocpoc_ubuntu.cmake

@@ -95,13 +95,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/version
 	
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	
 	examples/px4_simple_app
 )
 

cmake/configs/posix_rpi_common.cmake

@@ -107,13 +107,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/tunes
 	lib/version
-
-	#
-	# POSIX
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 )
 
 #

cmake/configs/posix_sdflight_default.cmake

@@ -83,8 +83,4 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/tunes
 	lib/version
-
+)
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-	)

cmake/configs/posix_sdflight_legacy.cmake

@@ -75,8 +75,4 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/tunes
 	lib/version
-
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 	)

cmake/configs/posix_sitl_default.cmake

@@ -64,7 +64,6 @@ set(config_module_list
 	platforms/posix/tests/hrt_test
 	platforms/posix/tests/muorb
 	platforms/posix/tests/vcdev_test
-	platforms/posix/tests/wqueue
 
 	#
 	# General system control
@@ -135,13 +134,6 @@ set(config_module_list
 	lib/tunes
 	lib/version
 
-	#
-	# Platform
-	#
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# OBC challenge
 	#

cmake/configs/posix_sitl_replay.cmake

@@ -4,9 +4,6 @@ set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cma
 set(config_module_list
 	drivers/device
 	drivers/boards/sitl
-	platforms/common
-	platforms/posix/px4_layer
-	platforms/posix/work_queue
 	systemcmds/param
 	systemcmds/ver
 	systemcmds/perf

cmake/configs/qurt_eagle_hello.cmake

@@ -33,13 +33,5 @@ set(config_module_list
 	modules/systemlib/param
 	modules/systemlib
 	modules/uORB
-
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-	platforms/qurt/tests/hello
 	)
 

cmake/configs/qurt_eagle_hil.cmake

@@ -73,13 +73,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/version
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_eagle_muorb.cmake

@@ -45,14 +45,6 @@ set(config_module_list
 	lib/version
 	lib/DriverFramework/framework
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-	platforms/qurt/tests/muorb
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_eagle_test.cmake

@@ -42,16 +42,5 @@ set(config_module_list
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/mixer
-
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-	platforms/qurt/tests/hello
-	platforms/posix/tests/vcdev_test
-	platforms/posix/tests/hrt_test
-	platforms/posix/tests/wqueue
 	)
 

cmake/configs/qurt_eagle_travis.cmake

@@ -79,13 +79,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/version
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_sdflight_default.cmake

@@ -97,13 +97,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/version
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# sources for muorb over fastrpc
 	#

cmake/configs/qurt_sdflight_legacy.cmake

@@ -96,13 +96,6 @@ set(config_module_list
 	lib/terrain_estimation
 	lib/version
 
-	#
-	# QuRT port
-	#
-	platforms/common
-	platforms/qurt/px4_layer
-	platforms/posix/work_queue
-
 	#
 	# sources for muorb over fastrpc
 	#

platforms/nuttx/CMakeLists.txt

@@ -1,6 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
 include(common/px4_upload)
 include(cygwin_cygpath)
 
+add_subdirectory(src)
+
 if (NOT FW_NAME)
 	set(FW_NAME ${CONFIG}.elf)
 endif()

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -175,13 +175,17 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-	set(added_include_dirs
+	include_directories(BEFORE SYSTEM
+		${PX4_BINARY_DIR}/NuttX/nuttx/include
+		${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
+	)
+
+	include_directories(
 		${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/armv7-m
 		${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/chip
 		${PX4_BINARY_DIR}/NuttX/nuttx/arch/arm/src/common
-		${PX4_BINARY_DIR}/NuttX/nuttx/include
+
-		${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
+		${PX4_BINARY_DIR}/NuttX/apps/include
-		${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
 		)
 
 	#set(added_exe_linker_flags)

platforms/nuttx/src/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,13 +30,5 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
+
-	MODULE platforms__nuttx__px4_layer
+add_subdirectory(px4_layer)
-	COMPILE_FLAGS
-	SRCS
-		px4_nuttx_tasks.c
-		../../posix/px4_layer/px4_log.c
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

platforms/nuttx/src/px4_layer/CMakeLists.txt

@@ -30,12 +30,16 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
+
-	MODULE platforms__nuttx
+# skip for px4_layer support on an IO board
-	COMPILE_FLAGS
+if (NOT ${BOARD} MATCHES "px4io")
+
+	px4_add_module(
+		MODULE platform_px4_layer
 		SRCS
+			px4_nuttx_tasks.c
 			px4_nuttx_impl.cpp
 		DEPENDS
-		platforms__common
+			prebuild_targets
 		)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+endif()

platforms/nuttx/src/px4_layer/px4_nuttx_impl.cpp

@@ -41,7 +41,6 @@
 #include <px4_middleware.h>
 #include <drivers/drv_hrt.h>
 
-
 namespace px4
 {
 

platforms/nuttx/src/px4_layer/px4_nuttx_tasks.c

@@ -37,24 +37,22 @@
  * Implementation of existing task API for NuttX
  */
 
-#include <px4_config.h>
+#include <nuttx/config.h>
-#include <px4_tasks.h>
+
-#include <unistd.h>
+#include <sys/wait.h>
+#include <stdbool.h>
 #include <stdio.h>
-#include <fcntl.h>
+#include <stdlib.h>
-#include <sched.h>
-#include <signal.h>
 #include <unistd.h>
-#include <float.h>
+#include <signal.h>
 #include <string.h>
+#include <sched.h>
+#include <errno.h>
+#include <stdbool.h>
 
-#include <sys/stat.h>
+#include <px4_config.h>
-#include <sys/types.h>
-
-
 #include <px4_log.h>
-#include <systemlib/systemlib.h>
+#include <px4_tasks.h>
-
 
 void
 px4_systemreset(bool to_bootloader)
@@ -115,4 +113,3 @@ const char *px4_get_taskname(void)
 	return "app";
 #endif
 }
-

platforms/posix/CMakeLists.txt

@@ -1,5 +1,7 @@
 include (common/px4_upload)
 
+add_subdirectory(src)
+
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
@@ -10,7 +12,7 @@ px4_posix_generate_builtin_commands(
 
 # Define build target
 set(APP_NAME px4)
-set(MAIN_SRC ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
+set(MAIN_SRC src/main.cpp)
 set(UPLOAD_NAME upload)
 
 if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))

platforms/posix/cmake/px4_impl_os.cmake

@@ -165,9 +165,7 @@ function(px4_os_add_flags)
 		DEFINITIONS ${DEFINITIONS})
 
         set(added_include_dirs
-		src/modules/systemlib
+		platforms/posix/include
-		src/platforms/posix/include
-		mavlink/include/mavlink
 		)
 
 	# This block sets added_definitions and added_cxx_flags.

platforms/posix/cmake/sitl_target.cmake

@@ -32,7 +32,7 @@ endfunction()
 # sitl run targets
 #
 
-set(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
+set(SITL_RUNNER_MAIN_CPP src/main.cpp)
 px4_add_sitl_app(APP_NAME px4
 		UPLOAD_NAME upload
 		MAIN_SRC ${SITL_RUNNER_MAIN_CPP}
@@ -111,7 +111,7 @@ foreach(viewer ${viewers})
 				set(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model})
 				set(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR})
 
-				configure_file(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
+				configure_file(src/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
 
 				px4_add_sitl_app(APP_NAME px4_${model}
 						UPLOAD_NAME upload_${model}