Replace sleep with px4_sleep

This is another step to isolate time from the system.

src/drivers/pwm_out_sim/PWMSim.cpp

@@ -31,6 +31,7 @@
  *
  ****************************************************************************/
 
+#include <px4_time.h>
 #include "PWMSim.hpp"
 
 #include <uORB/topics/multirotor_motor_limits.h>
@@ -196,7 +197,7 @@ PWMSim::run()
 
 		/* this can happen during boot, but after the sleep its likely resolved */
 		if (_poll_fds_num == 0) {
-			sleep(1);
+			px4_sleep(1);
 
 			PX4_DEBUG("no valid fds");
 			continue;

src/examples/hello/hello_example.cpp

@@ -40,7 +40,7 @@
  */
 
 #include "hello_example.h"
-
+#include <px4_time.h>
 #include <unistd.h>
 #include <stdio.h>
 
@@ -53,7 +53,7 @@ int HelloExample::main()
 	int i = 0;
 
 	while (!appState.exitRequested() && i < 5) {
-		sleep(2);
+		px4_sleep(2);
 
 		printf("  Doing work...\n");
 		++i;

src/include/visibility.h

@@ -70,6 +70,8 @@
 #include <unistd.h>
 #define system_usleep usleep
 #pragma GCC poison usleep
+#define system_sleep sleep
+#pragma GCC poison sleep
 
 #ifdef __cplusplus
 #include <cstdlib>
@@ -90,6 +92,7 @@
 // like uavcan and we don't need to fake time on the real system.
 #include <unistd.h>
 #define system_usleep usleep
+#define system_sleep sleep
 
 #pragma GCC poison getenv setenv putenv
 #endif /* __PX4_NUTTX */

src/lib/cdev/test/cdevtest_example.cpp

@@ -71,7 +71,7 @@ static int writer_main(int argc, char *argv[])
 	while (!g_exit) {
 		// Wait for 2 seconds
 		PX4_INFO("Writer: Sleeping for 2 sec");
-		ret = sleep(2);
+		ret = px4_sleep(2);
 
 		if (ret < 0) {
 			PX4_INFO("Writer: sleep failed %d %d", ret, errno);
@@ -326,6 +326,6 @@ fail2:
 	g_exit = true;
 	px4_close(fd);
 	PX4_INFO("TEST: waiting for writer to stop");
-	sleep(3);
+	px4_sleep(3);
 	return ret;
 }

src/modules/commander/accelerometer_calibration.cpp

@@ -840,7 +840,7 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub)
 	while (hrt_elapsed_time(&start) < settle_time * 1000000) {
 		calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG,
 				     (int)(90 * hrt_elapsed_time(&start) / 1e6f / (float)settle_time));
-		sleep(settle_time / 10);
+		px4_sleep(settle_time / 10);
 	}
 
 	start = hrt_absolute_time();

src/modules/commander/airspeed_calibration.cpp

@@ -60,7 +60,7 @@ static const char *sensor_name = "airspeed";
 
 static void feedback_calibration_failed(orb_advert_t *mavlink_log_pub)
 {
-	sleep(5);
+	px4_sleep(5);
 	calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, sensor_name);
 }
 
@@ -284,7 +284,7 @@ normal_return:
 	px4_close(diff_pres_sub);
 
 	// This give a chance for the log messages to go out of the queue before someone else stomps on then
-	sleep(1);
+	px4_sleep(1);
 
 	return result;
 

src/modules/commander/rc_check.cpp

@@ -223,7 +223,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 	}
 
 	if (channels_failed) {
-		sleep(2);
+		px4_sleep(2);
 
 		if (report_fail) {
 			mavlink_log_critical(mavlink_log_pub, "%d config error%s for %d RC channel%s.",

src/platforms/apps.cpp.in

@@ -112,7 +112,7 @@ int wait_for_topic(int argc, char *argv[])
 
 	while (orb_exists(&meta, 0) != 0 && (timeout && (elapsed < timeout)))
 	{
-		sleep(1);
+		px4_sleep(1);
 		elapsed += 1;
 	}
 

src/platforms/px4_time.h

@@ -35,5 +35,6 @@ __END_DECLS
 #define px4_clock_settime clock_settime
 
 #define px4_usleep system_usleep
+#define px4_sleep system_sleep
 
 #endif

src/systemcmds/pwm/pwm.cpp

@@ -752,7 +752,7 @@ err_out_no_test:
 		fds.events = POLLIN;
 
 		PX4_WARN("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now.");
-		sleep(5);
+		px4_sleep(5);
 
 		if (::ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_ENTER_TEST_MODE) < 0) {
 				PX4_ERR("Failed to Enter pwm test mode");

src/systemcmds/tests/hrt_test/hrt_test.cpp

@@ -76,7 +76,7 @@ int HRTTest::main()
 	PX4_INFO("Start time %llu\n", (unsigned long long)t);
 
 	t = hrt_absolute_time();
-	sleep(1);
+	px4_sleep(1);
 	elt = hrt_elapsed_time(&t);
 	PX4_INFO("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
 	PX4_INFO("Start time %llu\n", (unsigned long long)t);
@@ -86,7 +86,7 @@ int HRTTest::main()
 	PX4_INFO("HRT_CALL %d\n", hrt_called(&t1));
 
 	hrt_call_after(&t1, update_interval, timer_expired, (void *)nullptr);
-	sleep(2);
+	px4_sleep(2);
 	PX4_INFO("HRT_CALL - %d\n", hrt_called(&t1));
 	hrt_cancel(&t1);
 	PX4_INFO("HRT_CALL + %d\n", hrt_called(&t1));

src/systemcmds/tests/test_uart_console.c

@@ -94,7 +94,7 @@ int test_uart_console(int argc, char *argv[])
 		write(uart_usb, sample_uart_usb, sizeof(sample_uart_usb));
 		printf(".");
 		fflush(stdout);
-		sleep(1);
+		px4_sleep(1);
 	}
 
 //	uint64_t start_time = hrt_absolute_time();

src/systemcmds/top/top.c

@@ -80,7 +80,7 @@ top_main(int argc, char *argv[])
 	if (argc > 1) {
 		if (!strcmp(argv[1], "once")) {
 			print_load(curr_time, 1, &load);
-			sleep(1);
+			px4_sleep(1);
 			print_load(hrt_absolute_time(), 1, &load);
 
 		} else {