move systemlib/circuit_breaker.cpp to standalone lib

src/drivers/kinetis/tone_alarm/CMakeLists.txt

@@ -37,5 +37,6 @@ px4_add_module(
 	SRCS
 		tone_alarm.cpp
 	DEPENDS
+		circuit_breaker
 		tunes
 	)

src/drivers/kinetis/tone_alarm/tone_alarm.cpp

@@ -113,7 +113,7 @@
 #include "kinetis_tpm.h"
 
 #include <systemlib/err.h>
-#include <systemlib/circuit_breaker.h>
+#include <circuit_breaker/circuit_breaker.h>
 
 #define CAT3_(A, B, C)    A##B##C
 #define CAT3(A, B, C)     CAT3_(A, B, C)

src/drivers/px4fmu/CMakeLists.txt

@@ -38,5 +38,6 @@ px4_add_module(
 	SRCS
 		fmu.cpp
 	DEPENDS
+		circuit_breaker
 		rc
 	)

src/drivers/px4fmu/fmu.cpp

@@ -56,7 +56,7 @@
 #include <px4_getopt.h>
 #include <px4_log.h>
 #include <px4_module.h>
-#include <systemlib/circuit_breaker.h>
+#include <circuit_breaker/circuit_breaker.h>
 #include <lib/mixer/mixer.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>

src/drivers/px4io/CMakeLists.txt

@@ -42,6 +42,7 @@ px4_add_module(
 		px4io_serial_f4.cpp
 		px4io_serial_f7.cpp
 	DEPENDS
+		circuit_breaker
 	)
 
 # include the px4io binary in ROMFS

src/drivers/px4io/px4io.cpp

@@ -71,7 +71,7 @@
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>
-#include <systemlib/circuit_breaker.h>
+#include <circuit_breaker/circuit_breaker.h>
 #include <systemlib/mavlink_log.h>
 
 #include <uORB/topics/actuator_controls.h>

src/drivers/samv7/tone_alarm/CMakeLists.txt

@@ -37,5 +37,6 @@ px4_add_module(
 	SRCS
 		tone_alarm.cpp
 	DEPENDS
+		circuit_breaker
 		tunes
 	)

src/drivers/samv7/tone_alarm/tone_alarm.cpp

@@ -116,7 +116,7 @@
 #include <sam_tc.h>
 
 #include <systemlib/err.h>
-#include <systemlib/circuit_breaker.h>
+#include <circuit_breaker/circuit_breaker.h>
 
 /* Check that tone alarm and HRT timers are different */
 #if defined(TONE_ALARM_CHANNEL)  && defined(HRT_TIMER_CHANNEL)

src/drivers/stm32/tone_alarm/CMakeLists.txt

@@ -37,5 +37,6 @@ px4_add_module(
 	SRCS
 		tone_alarm.cpp
 	DEPENDS
+		circuit_breaker
 		tunes
 	)

src/drivers/stm32/tone_alarm/tone_alarm.cpp

@@ -109,7 +109,7 @@
 #include <drivers/drv_hrt.h>
 
 #include <systemlib/err.h>
-#include <systemlib/circuit_breaker.h>
+#include <circuit_breaker/circuit_breaker.h>
 
 #include <px4_workqueue.h>
 

src/examples/uuv_example_app/uuv_example_app.cpp

@@ -54,7 +54,7 @@
 #include <parameters/param.h>
 #include <systemlib/err.h>
 #include <perf/perf_counter.h>
-#include <systemlib/circuit_breaker.h>
+
 // internal libraries
 #include <lib/mathlib/mathlib.h>
 #include <matrix/math.hpp>

src/lib/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_git_submodule(TARGET git_ecl PATH "ecl")
 px4_add_git_submodule(TARGET git_matrix PATH "matrix")
 
 add_subdirectory(battery)
+add_subdirectory(circuit_breaker)
 add_subdirectory(controllib)
 add_subdirectory(conversion)
 add_subdirectory(drivers)

src/lib/circuit_breaker/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+px4_add_library(circuit_breaker circuit_breaker.cpp)

src/lib/circuit_breaker/circuit_breaker.cpp

@@ -42,9 +42,10 @@
  * parameter needs to set to the key (magic).
  */
 
+#include "circuit_breaker.h"
+
 #include <stdint.h>
 #include <px4_defines.h>
-#include <systemlib/circuit_breaker.h>
 
 bool circuit_breaker_enabled(const char *breaker, int32_t magic)
 {

src/lib/circuit_breaker/circuit_breaker.h

@@ -59,7 +59,7 @@
 #define CBRK_USB_CHK_KEY	197848
 #define CBRK_VELPOSERR_KEY	201607
 
-#include <stdbool.h>
+#include <stdint.h>
 
 __BEGIN_DECLS
 

src/modules/commander/CMakeLists.txt

@@ -54,6 +54,7 @@ px4_add_module(
 		rc_check.cpp
 		state_machine_helper.cpp
 	DEPENDS
+		circuit_breaker
 		df_driver_framework
 		git_ecl
 		ecl_geo

src/modules/commander/commander.cpp

@@ -73,7 +73,7 @@
 #include <px4_shutdown.h>
 #include <px4_tasks.h>
 #include <px4_time.h>
-#include <systemlib/circuit_breaker.h>
+#include <circuit_breaker/circuit_breaker.h>
 #include <systemlib/err.h>
 #include <systemlib/hysteresis/hysteresis.h>
 #include <systemlib/mavlink_log.h>

src/modules/mc_att_control/CMakeLists.txt

@@ -40,6 +40,7 @@ px4_add_module(
 	SRCS
 		mc_att_control_main.cpp
 	DEPENDS
+		circuit_breaker
 		conversion
 		mathlib
 	)

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -48,7 +48,7 @@
 #include <conversion/rotation.h>
 #include <drivers/drv_hrt.h>
 #include <lib/ecl/geo/geo.h>
-#include <systemlib/circuit_breaker.h>
+#include <circuit_breaker/circuit_breaker.h>
 #include <mathlib/math/Limits.hpp>
 #include <mathlib/math/Functions.hpp>
 

src/modules/systemlib/CMakeLists.txt

@@ -33,7 +33,6 @@
 
 set(SRCS
 	airspeed.cpp
-	circuit_breaker.cpp
 	conversions.c
 	cpuload.c
 	crc.c