DriverFramework purge

The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything. - DriverFramework (src/lib/DriverFramework submodule) completely removed - added dspal submodule in qurt platform (was brought in via DriverFramework) - all df wrapper drivers removed - all boards using df wrapper drivers updated to use in tree equivalents - unused empty arch/board.h on posix and qurt removed - unused IOCTLs removed (pub block, priv, etc) - Integrator delete methods only used from df wrapper drivers - commander: sensor calibration use "NuttX version" everywhere for now - sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure) - battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure) - cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc) - load_mon and top remove from linux boards (unused) - delete unused PX4_MAIN_FUNCTION - delete unused getreg32 macro - delete unused SIOCDEVPRIVATE define - named each platform tasks consistently - posix list_devices and list_topics removed (list_files now shows all virtual files)
2026-05-26 17:36:40 +08:00 · 2020-01-09 11:00:40 -05:00
parent 04ba05f5a0
commit de4f594937
165 changed files with 285 additions and 8108 deletions
@@ -19,25 +19,17 @@ ${builtin_apps_decl_string}
 int shutdown_main(int argc, char *argv[]);
 int list_tasks_main(int argc, char *argv[]);
 int list_files_main(int argc, char *argv[]);
-int list_devices_main(int argc, char *argv[]);
-int list_topics_main(int argc, char *argv[]);
 int sleep_main(int argc, char *argv[]);
-int wait_for_topic(int argc, char *argv[]);

 }

-extern void px4_show_devices(void);
-
 void init_app_map(apps_map_type &apps)
 {
-${builtin_apps_string}
+	${builtin_apps_string}
 	apps["shutdown"] = shutdown_main;
 	apps["list_tasks"] = list_tasks_main;
 	apps["list_files"] = list_files_main;
-	apps["list_devices"] = list_devices_main;
-	apps["list_topics"] = list_topics_main;
 	apps["sleep"] = sleep_main;
-	apps["wait_for_topic"] = wait_for_topic;
 }

 void list_builtins(apps_map_type &apps)
@@ -60,18 +52,6 @@ int list_tasks_main(int argc, char *argv[])
 	return 0;
 }

-int list_devices_main(int argc, char *argv[])
-{
-	px4_show_devices();
-	return 0;
-}
-
-int list_topics_main(int argc, char *argv[])
-{
-	px4_show_topics();
-	return 0;
-}
-
 int list_files_main(int argc, char *argv[])
 {
 	px4_show_files();
@@ -90,32 +70,3 @@ int sleep_main(int argc, char *argv[])
        px4_usleep(usecs);
        return 0;
 }
-
-#include "uORB/uORB.h"
-
-int wait_for_topic(int argc, char *argv[])
-{
-	if (argc < 2 || argc > 3) {
-		printf("Usage: wait_for_topic <topic> [timeout_sec]\n");
-		return 1;
-	}
-
-	struct orb_metadata meta = { .o_name = argv[1],
-				     .o_size = 0,
-				     .o_size_no_padding = 0,
-				     .o_fields = nullptr };
-
-	unsigned int timeout = (argc == 3) ? (unsigned int)atoi(argv[2]) : 0;
-	unsigned int elapsed = 0;
-
-	printf("Waiting for topic %s timeout %u\n", argv[1], timeout);
-
-	while (orb_exists(&meta, 0) != 0 && (timeout && (elapsed < timeout)))
-	{
-		px4_sleep(1);
-		elapsed += 1;
-	}
-
-	return 0;
-}
-
@@ -54,19 +54,6 @@ constexpr bool PX4_ISFINITE(float x) { return __builtin_isfinite(x); }
 constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 #endif /* __cplusplus */

-#if defined(__PX4_NUTTX) || defined(__PX4_POSIX)
-/****************************************************************************
- * Building for NuttX or POSIX.
- ****************************************************************************/
-
-/* Main entry point */
-#define PX4_MAIN_FUNCTION(_prefix) int _prefix##_task_main(int argc, char *argv[])
-
-#else // defined(__PX4_NUTTX) || defined(__PX4_POSIX)
-/****************************************************************************/
-#error "No target OS defined"
-#endif
-
 #if defined(__PX4_NUTTX)
 /****************************************************************************
 * NuttX specific defines.
@@ -99,9 +86,6 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 // NuttX _IOC is equivalent to Linux _IO
 #define _PX4_IOC(x,y) _IO(x,y)

-/* FIXME - Used to satisfy build */
-#define getreg32(a)    (*(volatile uint32_t *)(a))
-
 #define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
 #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)

@@ -111,7 +95,6 @@ constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
 #  include "dspal_math.h"
 #  define PX4_ROOTFSDIR "."
 #  define PX4_TICKS_PER_SEC 1000L
-#  define SIOCDEVPRIVATE 999999

 #else // __PX4_QURT

@@ -44,7 +44,6 @@
 #include <stdint.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <poll.h>
 #include <stdint.h>

 #if defined(__PX4_QURT)
@@ -60,7 +59,10 @@

 #ifdef __PX4_NUTTX

+#include <poll.h>
+
 typedef struct pollfd px4_pollfd_struct_t;
+typedef pollevent_t px4_pollevent_t;

 #if defined(__cplusplus)
 #define _GLOBAL ::
@@ -73,7 +75,6 @@ typedef struct pollfd px4_pollfd_struct_t;
 #define px4_write 	_GLOBAL write
 #define px4_read 	_GLOBAL read
 #define px4_poll 	_GLOBAL poll
-#define px4_fsync 	_GLOBAL fsync
 #define px4_access 	_GLOBAL access
 #define px4_getpid 	_GLOBAL getpid

@@ -83,34 +84,31 @@ typedef struct pollfd px4_pollfd_struct_t;

 #define	 PX4_STACK_OVERHEAD	(1024 * 11)

-/**
- * Terminates the calling process immediately.
- * @return 0 on success, 1 on error
- */
-#define px4_exit(status) ({return status;})
-
 __BEGIN_DECLS

-typedef short pollevent_t;
+typedef short px4_pollevent_t;

 typedef struct {
 	/* This part of the struct is POSIX-like */
 	int		fd;       /* The descriptor being polled */
-	pollevent_t 	events;   /* The input event flags */
-	pollevent_t 	revents;  /* The output event flags */
+	px4_pollevent_t 	events;   /* The input event flags */
+	px4_pollevent_t 	revents;  /* The output event flags */

 	/* Required for PX4 compatibility */
 	px4_sem_t   *sem;  	/* Pointer to semaphore used to post output event */
 	void   *priv;     	/* For use by drivers */
 } px4_pollfd_struct_t;

+#ifndef POLLIN
+#define POLLIN       (0x01)
+#endif
+
 __EXPORT int 		px4_open(const char *path, int flags, ...);
 __EXPORT int 		px4_close(int fd);
 __EXPORT ssize_t	px4_read(int fd, void *buffer, size_t buflen);
 __EXPORT ssize_t	px4_write(int fd, const void *buffer, size_t buflen);
 __EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
-__EXPORT int		px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
-__EXPORT int		px4_fsync(int fd);
+__EXPORT int		px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout);
 __EXPORT int		px4_access(const char *pathname, int mode);
 __EXPORT px4_task_t	px4_getpid(void);

@@ -127,13 +125,7 @@ __END_DECLS
 #define PX4_STACK_ADJUSTED(_s) (_s * (__SIZEOF_POINTER__ >> 2) + PX4_STACK_OVERHEAD)

 __BEGIN_DECLS
-extern int px4_errno;

-__EXPORT void		px4_show_devices(void);
 __EXPORT void		px4_show_files(void);
-__EXPORT const char 	*px4_get_device_names(unsigned int *handle);
-
-__EXPORT void		px4_show_topics(void);
-__EXPORT const char 	*px4_get_topic_names(unsigned int *handle);

 __END_DECLS
@@ -94,6 +94,7 @@ int px4_register_shutdown_hook(shutdown_hook_t hook)
 {
 	return -EINVAL;
 }
+
 int px4_unregister_shutdown_hook(shutdown_hook_t hook)
 {
 	return -EINVAL;
@@ -69,7 +69,6 @@ function(px4_os_add_flags)

 	add_definitions(
 		-D__PX4_NUTTX
-		-D__DF_NUTTX

 		-D_SYS_CDEFS_H_ # skip toolchain's <sys/cdefs.h>
 		-D_SYS_REENT_H_	# skip toolchain's <sys/reent.h>
@@ -40,7 +40,7 @@ if (NOT ${PX4_BOARD} MATCHES "px4_io")
 		board_fat_dma_alloc.c
 		console_buffer.cpp
 		gpio.c
-		px4_nuttx_tasks.c
+		tasks.cpp
 		px4_nuttx_impl.cpp
 		px4_init.cpp
 	)
@@ -34,7 +34,6 @@


 __BEGIN_DECLS
-#include <nuttx/spi/spi.h>

 /* For historical reasons (NuttX STM32 numbering) PX4 bus numbering is 1 based
 * All PX4 code, including, board code is written to assuming 1 based numbering.
@@ -33,11 +33,13 @@
 ****************************************************************************/

 /**
- * @file px4_nuttx_tasks.c
+ * @file tasks.cpp
 * Implementation of existing task API for NuttX
 */

-#include <nuttx/config.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>

 #include <sys/wait.h>
 #include <stdbool.h>
@@ -50,10 +52,6 @@
 #include <errno.h>
 #include <stdbool.h>

-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/log.h>
-#include <px4_platform_common/tasks.h>
-
 void
 px4_systemreset(bool to_bootloader)
 {
@@ -42,7 +42,6 @@ if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlfl
 				px4_layer
 				parameters
 				${module_libraries}
-				${df_driver_libs}
 				${FASTRPC_ARM_LIBS}
 				pthread m rt
 			-Wl,--end-group
@@ -57,8 +56,6 @@ else()
 	target_link_libraries(px4
 		PRIVATE
 			${module_libraries}
-			${df_driver_libs}
-			df_driver_framework
 			pthread m

 			# horrible circular dependencies that need to be teased apart
@@ -109,8 +106,6 @@ endif()

 if("${PX4_BOARD}" MATCHES "beaglebone_blue")
 	target_link_libraries(px4 PRIVATE robotics_cape)
-	add_dependencies(df_driver_framework librobotcontrol)
-	add_dependencies(df_mpu9250 librobotcontrol)

 elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
 	target_link_libraries(px4 PRIVATE atomic)
@@ -223,10 +223,7 @@ function(px4_os_add_flags)
 	if ("${PX4_BOARD}" MATCHES "sitl")

 		if(UNIX AND APPLE)
-			add_definitions(
-				-D__PX4_DARWIN
-				-D__DF_DARWIN
-				)
+			add_definitions(-D__PX4_DARWIN)

 			if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
 				message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
@@ -251,46 +248,21 @@ function(px4_os_add_flags)
 				-U__CUSTOM_FILE_IO__
 				)
 		else()
-			add_definitions(
-				-D__PX4_LINUX
-				-D__DF_LINUX
-				)
+			add_definitions(-D__PX4_LINUX)
 		endif()

 	elseif (("${PX4_BOARD}" MATCHES "navio2") OR ("${PX4_BOARD}" MATCHES "raspberrypi"))
-
 		#TODO: move to board support
-
-		add_definitions(
-			-D__PX4_LINUX
-
-			# For DriverFramework
-			-D__DF_LINUX
-			-D__DF_RPI
-		)
+		add_definitions(-D__PX4_LINUX)

 	elseif ("${PX4_BOARD}" MATCHES "aerotenna_ocpoc")
-
 		#TODO: move to board support
-
-		add_definitions(
-			-D__PX4_LINUX
-			-D__PX4_POSIX_OCPOC # TODO: remove
-
-			# For DriverFramework
-			-D__DF_LINUX
-			-D__DF_OCPOC
-		)
+		add_definitions(-D__PX4_LINUX)

 	elseif ("${PX4_BOARD}" MATCHES "beaglebone_blue")
 		#TODO: move to board support
 		add_definitions(
 			-D__PX4_LINUX
-			-D__PX4_POSIX_BBBLUE # TODO: remove
-
-			# For DriverFramework
-			-D__DF_LINUX
-			-D__DF_BBBLUE

 			-DRC_AUTOPILOT_EXT  # Enable extensions in Robotics Cape Library, TODO: remove
 		)
@@ -50,7 +50,7 @@ endif()

 add_library(px4_layer
 	px4_posix_impl.cpp
-	px4_posix_tasks.cpp
+	tasks.cpp
 	px4_sem.cpp
 	px4_init.cpp
 	lib_crc32.c
@@ -71,7 +71,6 @@
 #include <px4_platform_common/posix.h>

 #include "apps.h"
-#include "DriverFramework.hpp"
 #include "px4_daemon/client.h"
 #include "px4_daemon/server.h"
 #include "px4_daemon/pxh.h"
@@ -281,8 +280,6 @@ int main(int argc, char **argv)
 			return ret;
 		}

-		DriverFramework::Framework::initialize();
-
 		px4::init_once();
 		px4::init(argc, argv, "px4");

@@ -68,7 +68,6 @@ void init_once();
 void init_once()
 {
 	_shell_task_id = pthread_self();
-	//printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);

 	work_queues_init();
 	hrt_work_queue_init();
@@ -33,7 +33,6 @@

 set(SRCS
    stub_daemon.cpp
-    stub_devmgr.cpp
    stub_parameter.cpp
   )

@@ -1,10 +0,0 @@
-#include "stub_devmgr.h"
-
-
-namespace DriverFramework
-{
-int DevMgr::getNextDeviceName(unsigned int &index, const char **instancename)
-{
-	return stub_getNextDeviceName_callback(index, instancename);
-}
-}
@@ -1,8 +0,0 @@
-#pragma once
-
-#include "DevMgr.hpp"
-
-#include <functional>
-
-std::function<int(unsigned int &, const char **)> stub_getNextDeviceName_callback = [](unsigned int &,
-const char **) {return 0;};
@@ -1,5 +1,7 @@

-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+px4_add_git_submodule(TARGET git_dspal PATH "${PX4_SOURCE_DIR}/platforms/qurt/dspal")
+
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/platforms/qurt/dspal/cmake_hexagon")
 include(toolchain/Toolchain-qurt)
 include(fastrpc)
 include(qurt_lib)
@@ -33,7 +35,7 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 		${PX4_BINARY_DIR}/platforms/qurt/px4muorb_skel.c
 	)

-	target_link_libraries(px4 PRIVATE ${module_libraries} ${df_driver_libs})
+	target_link_libraries(px4 PRIVATE ${module_libraries})

 else()
 	# Generate the DSP lib and stubs but not the apps side executable
@@ -45,8 +47,6 @@ else()
 		LINK_LIBS
 			modules__muorb__adsp
 			${module_libraries}
-			${df_driver_libs}
-			df_driver_framework
 			m
 		)

@@ -108,24 +108,20 @@ endfunction()
 #
 function(px4_os_add_flags)

-	set(DSPAL_ROOT src/lib/DriverFramework/dspal)
+	set(DSPAL_ROOT platforms/qurt/dspal)
 	include_directories(
 		${DSPAL_ROOT}/include
-		${DSPAL_ROOT}/mpu_spi/inc
 		${DSPAL_ROOT}/sys
 		${DSPAL_ROOT}/sys/sys
-		${DSPAL_ROOT}/uart_esc/inc

 		platforms/posix/include
 		platforms/qurt/include
-		)
+	)

 	add_definitions(
 		-D__PX4_POSIX
 		-D__PX4_QURT
-
-		-D__DF_QURT # For DriverFramework
-		)
+	)

 	add_compile_options(
 		-fPIC
@@ -139,8 +135,6 @@ function(px4_os_add_flags)
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS)
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS)

-	set(DF_TARGET "qurt" CACHE STRING "DriverFramework target" FORCE)
-
 endfunction()

 #=============================================================================
@@ -1,40 +0,0 @@
-/****************************************************************************
- * include/poll.h
- *
- *   Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-typedef unsigned int nfds_t;
-
-#define POLLIN       (0x01)
@@ -1,3 +0,0 @@
-#pragma once
-
-#define _IO(x,y) (x+y)
@@ -38,7 +38,7 @@ include_directories(${HEXAGON_8074_INCLUDES})

 set(QURT_LAYER_SRCS
 	px4_qurt_impl.cpp
-	px4_qurt_tasks.cpp
+	tasks.cpp
 	lib_crc32.c
 	drv_hrt.cpp
 	qurt_stubs.c
@@ -93,10 +93,8 @@ const char *get_commands()

 		"param set MAV_TYPE 2\n"
 		"mixer load /dev/pwm_output0 /startup/quad_x.main.mix\n"
-		"list_devices\n"
 		"list_files\n"
 		"list_tasks\n"
-		"list_topics\n"
 		"sleep 10\n"
 		"list_tasks\n"
 		"sleep 10\n"
@@ -52,7 +52,6 @@

 #include "get_commands.h"
 #include "apps.h"
-#include "DriverFramework.hpp"

 #define MAX_ARGS 8 // max number of whitespace separated args after app name

@@ -196,7 +195,6 @@ int dspal_entry(int argc, char *argv[])
 	PX4_INFO("In dspal_entry");
 	apps_map_type apps;
 	init_app_map(apps);
-	DriverFramework::Framework::initialize();
 	px4::init_once();
 	px4::init(argc, (char **)argv, "px4");
 	process_commands(apps, get_commands());