mavlink: consolidated nuttx and posix changes

Removed nuttx and posix specific files for mavlink_ftp and mavlink_receiver.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/modules/mavlink/mavlink_ftp.cpp

@@ -820,7 +820,12 @@ MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length
 		return -1;
 	}
 
-	dst_fd = ::open(dst_path, O_CREAT | O_TRUNC | O_WRONLY, 0x0777);
+	dst_fd = ::open(dst_path, O_CREAT | O_TRUNC | O_WRONLY
+// POSIX requires the permissions to be supplied if O_CREAT passed
+#ifdef __PX4_POSIX
+			, 0x0777
+#endif
+			);
 	if (dst_fd < 0) {
 		op_errno = errno;
 		::close(src_fd);

src/modules/mavlink/mavlink_receiver.cpp

@@ -41,7 +41,12 @@
  */
 
 /* XXX trim includes */
+#ifdef __PX4_NUTTX
+#include <nuttx/config.h>
+#include <nuttx/sched.h>
+#else
 #include <px4_config.h>
+#endif
 #include <unistd.h>
 #include <pthread.h>
 #include <stdio.h>
@@ -1495,14 +1500,14 @@ MavlinkReceiver::receive_thread(void *arg)
 	sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id());
 	prctl(PR_SET_NAME, thread_name, getpid());
 
-	px4_pollfd_struct_t fds[1];
+	struct pollfd fds[1];
 	fds[0].fd = uart_fd;
 	fds[0].events = POLLIN;
 
 	ssize_t nread = 0;
 
 	while (!_mavlink->_task_should_exit) {
-		if (px4_poll(fds, 1, timeout) > 0) {
+		if (poll(fds, 1, timeout) > 0) {
 
 			/* non-blocking read. read may return negative values */
 			if ((nread = ::read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) {

src/modules/mavlink/mavlink_tests/module.mk

@@ -38,12 +38,8 @@
 MODULE_COMMAND		= mavlink_tests
 SRCS			= mavlink_tests.cpp \
 			mavlink_ftp_test.cpp \
+SRCS += 		../mavlink_ftp.cpp \
 			../mavlink.c
-ifeq ($(PX4_TARGET_NUTTX),nuttx)
-SRCS += 		../mavlink_ftp_nuttx.cpp 
-else
-SRCS += 		../mavlink_ftp_posix.cpp 
-endif
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 

src/modules/mavlink/module.mk

@@ -37,13 +37,9 @@
 
 MODULE_COMMAND	 = mavlink
 ifeq ($(PX4_TARGET_OS),nuttx)
-SRCS		 += 	mavlink_main_nuttx.cpp \
+SRCS		 += 	mavlink_main_nuttx.cpp 
-			mavlink_ftp_nuttx.cpp \
-			mavlink_receiver_nuttx.cpp 
 else
-SRCS		 += 	mavlink_main_posix.cpp \
+SRCS		 += 	mavlink_main_posix.cpp 
-			mavlink_ftp_posix.cpp \
-			mavlink_receiver_posix.cpp 
 endif
 
 SRCS 		 +=	mavlink.c \
@@ -52,7 +48,9 @@ SRCS 		 +=	mavlink.c \
 			mavlink_orb_subscription.cpp \
 			mavlink_messages.cpp \
 			mavlink_stream.cpp \
-			mavlink_rate_limiter.cpp 
+			mavlink_rate_limiter.cpp \
+			mavlink_receiver.cpp \
+			mavlink_ftp.cpp 
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink