OS X porting: Make unit tests compile on OS X

makefiles/posix/toolchain_native.mk

@@ -120,7 +120,6 @@ ifeq ($(CONFIG_BOARD),)
 $(error Board config does not define CONFIG_BOARD)
 endif
 ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-			-D__PX4_LINUX -D__PX4_POSIX \
 			-Dnoreturn_function= \
 			-I$(PX4_BASE)/src/modules/systemlib \
 			-I$(PX4_BASE)/src/lib/eigen \
@@ -128,6 +127,14 @@ ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
 			-I$(PX4_BASE)/mavlink/include/mavlink \
 			-Wno-error=shadow
 
+UNAME_S := $(shell uname -s)
+ifeq ($(UNAME_S),Linux)
+    ARCHDEFINES		+= -D__PX4_POSIX -D__PX4_LINUX
+endif
+ifeq ($(UNAME_S),Darwin)
+    ARCHDEFINES		+= -D__PX4_POSIX -D__PX4_DARWIN
+endif
+
 # optimisation flags
 #
 ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \

src/drivers/device/i2c_posix.cpp

@@ -135,6 +135,9 @@ I2C::init()
 int
 I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
 {
+	#ifndef __PX4_LINUX
+	return 1;
+	#else
 	struct i2c_msg msgv[2];
 	unsigned msgs;
 	struct i2c_rdwr_ioctl_data packets;
@@ -191,11 +194,15 @@ I2C::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned re
 	} while (retry_count++ < _retries);
 
 	return ret;
+	#endif
 }
 
 int
 I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 {
+	#ifndef __PX4_LINUX
+	return 1;
+	#else
 	struct i2c_rdwr_ioctl_data packets;
 	int ret;
 	unsigned retry_count = 0;
@@ -227,16 +234,18 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 	} while (retry_count++ < _retries);
 
 	return ret;
+	#endif
 }
 
 int I2C::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	//struct i2c_rdwr_ioctl_data *packets = (i2c_rdwr_ioctl_data *)(void *)arg;
-
 	switch (cmd) {
+	#ifdef __PX4_LINUX
 	case I2C_RDWR:
         	warnx("Use I2C::transfer, not ioctl");
 		return 0;
+	#endif
 	default:
 		/* give it to the superclass */
 		return VDev::ioctl(filp, cmd, arg);

src/drivers/drv_device.h

@@ -66,6 +66,11 @@
 #define DEVIOCGDEVICEID	_DEVICEIOC(2)
 
 #ifdef __PX4_POSIX
+
+#ifndef SIOCDEVPRIVATE
+ #define SIOCDEVPRIVATE 1
+#endif
+
 #define DIOC_GETPRIV    SIOCDEVPRIVATE
 #endif
 

src/platforms/posix/px4_layer/drv_hrt.c

@@ -77,6 +77,40 @@ static void hrt_unlock(void)
 	sem_post(&_hrt_lock);
 }
 
+#ifndef clock_gettime
+#include <mach/mach_time.h>
+#define MAC_NANO (+1.0E-9)
+#define MAC_GIGA UINT64_C(1000000000)
+#define CLOCK_MONOTONIC 1
+#define clockid_t int
+
+static double px4_timebase = 0.0;
+static uint64_t px4_timestart = 0;
+
+int clock_gettime(clockid_t clk_id, struct timespec *t)
+{
+if (clk_id != CLOCK_MONOTONIC) {
+	return 1;
+}
+
+	// XXX multithreading locking
+  if (!px4_timestart) {
+    mach_timebase_info_data_t tb = { 0 };
+    mach_timebase_info(&tb);
+    px4_timebase = tb.numer;
+    px4_timebase /= tb.denom;
+    px4_timestart = mach_absolute_time();
+  }
+
+  memset(t, 0, sizeof(*t));
+
+  double diff = (mach_absolute_time() - px4_timestart) * px4_timebase;
+  t->tv_sec = diff * MAC_NANO;
+  t->tv_nsec = diff - (t->tv_sec * MAC_GIGA);
+  return 0;
+}
+#endif
+
 /*
  * Get absolute time.
  */

src/platforms/px4_log.h

@@ -86,6 +86,21 @@
 #define PX4_WARN(...) 	__px4_log_verbose("WARN",  __VA_ARGS__)
 #define PX4_ERR(...)	__px4_log_verbose("ERROR", __VA_ARGS__)
 
+#elif defined(__PX4_DARWIN)
+#include <stdio.h>
+#include <pthread.h>
+
+#define __px4_log_threads(level, ...)   { \
+	printf("%-5s %ld ", level, pthread_self());\
+	printf(__VA_ARGS__);\
+	printf(" (file %s line %d)\n", __FILE__, __LINE__);\
+}
+
+#define PX4_DEBUG(...) 	__px4_log_omit("DEBUG", __VA_ARGS__)
+#define PX4_INFO(...) 	__px4_log("INFO",  __VA_ARGS__)
+#define PX4_WARN(...) 	__px4_log_verbose("WARN",  __VA_ARGS__)
+#define PX4_ERR(...)	__px4_log_verbose("ERROR", __VA_ARGS__)
+
 #elif defined(__PX4_ROS)
 
 #define PX4_DBG(...) 

src/platforms/px4_tasks.h

@@ -68,10 +68,16 @@ typedef int px4_task_t;
 #define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
 #define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
 #define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
+#elif defined(__PX4_DARWIN)
+#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
+#define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
+#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
 #elif defined(__PX4_QURT)
 #define SCHED_PRIORITY_MAX 0
 #define SCHED_PRIORITY_MIN 0
 #define SCHED_PRIORITY_DEFAULT 0
+#else
+#error "No target OS defined"
 #endif
 
 typedef int px4_task_t;

unittests/CMakeLists.txt

@@ -55,15 +55,19 @@ add_definitions(-DERROR=-1)
 add_definitions(-DOK=0)
 add_definitions(-D_UNIT_TEST=)
 add_definitions(-D__PX4_POSIX)
-add_definitions(-D__PX4_LINUX)
-add_definitions(-D__PX4_POSIX)
 
 # check
 add_custom_target(unittests COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
 
 function(add_gtest)
   foreach(test_name ${ARGN})
-    target_link_libraries(${test_name} gtest_main pthread rt )
+    if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+      target_link_libraries(${test_name} gtest_main pthread )
+      add_definitions(-D__PX4_DARWIN)
+    else()
+      target_link_libraries(${test_name} gtest_main pthread rt )
+      add_definitions(-D__PX4_LINUX)
+    endif()
     add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
     add_dependencies(unittests ${test_name})
   endforeach()