Converted getopt use to px4_getopt

In the posix and qurt builds, getopt is not thread safe so px4_getopt
should be used instead.

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

makefiles/posix/toolchain_native.mk

@@ -120,7 +120,7 @@ ifeq ($(CONFIG_BOARD),)
 $(error Board config does not define CONFIG_BOARD)
 endif
 ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-			-Dnoreturn_function= \
+			-Dnoreturn_function=__attribute__\(\(noreturn\)\) \
 			-I$(PX4_BASE)/src/modules/systemlib \
 			-I$(PX4_BASE)/src/lib/eigen \
 			-I$(PX4_BASE)/src/platforms/posix/include \

src/modules/sdlog2/sdlog2.c

@@ -44,6 +44,7 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_getopt.h>
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <sys/prctl.h>
@@ -895,10 +896,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	 * set error flag instead */
 	bool err_flag = false;
 
-	while ((ch = getopt(argc, argv, "r:b:eatx")) != EOF) {
+	int myoptind = 1;
+	const char *myoptarg = NULL;
+	while ((ch = px4_getopt(argc, argv, "r:b:eatx", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'r': {
-				unsigned long r = strtoul(optarg, NULL, 10);
+				unsigned long r = strtoul(myoptarg, NULL, 10);
 
 				if (r == 0) {
 					r = 1;
@@ -909,7 +912,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			break;
 
 		case 'b': {
-				unsigned long s = strtoul(optarg, NULL, 10);
+				unsigned long s = strtoul(myoptarg, NULL, 10);
 
 				if (s < 1) {
 					s = 1;

src/platforms/posix/px4_layer/px4_posix_tasks.cpp

@@ -98,6 +98,7 @@ void
 px4_systemreset(bool to_bootloader)
 {
 	PX4_WARN("Called px4_system_reset");
+	exit(0);
 }
 
 px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])

src/systemcmds/esc_calib/esc_calib.c

@@ -39,7 +39,9 @@
  */
 
 #include <px4_config.h>
-#include <platforms/px4_defines.h>
+#include <px4_getopt.h>
+#include <px4_defines.h>
+#include <px4_log.h>
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -52,15 +54,9 @@
 #include <sys/ioctl.h>
 #include <sys/stat.h>
 
-#include <nuttx/i2c.h>
-#include <nuttx/mtd.h>
-#include <nuttx/fs/nxffs.h>
-#include <nuttx/fs/ioctl.h>
-
 #include <arch/board/board.h>
 
 #include "systemlib/systemlib.h"
-#include "systemlib/err.h"
 #include "drivers/drv_pwm_output.h"
 
 #include <uORB/topics/actuator_controls.h>
@@ -76,9 +72,9 @@ static void
 usage(const char *reason)
 {
 	if (reason != NULL)
-		warnx("%s", reason);
+		PX4_ERR("%s", reason);
 
-	errx(1,
+	PX4_ERR(
 		"usage:\n"
 		"esc_calib\n"
 		"    [-d <device>        PWM output device (defaults to " PWM_OUTPUT0_DEVICE_PATH ")\n"
@@ -93,7 +89,7 @@ usage(const char *reason)
 int
 esc_calib_main(int argc, char *argv[])
 {
-	char *dev = PWM_OUTPUT0_DEVICE_PATH;
+	const char *dev = PWM_OUTPUT0_DEVICE_PATH;
 	char *ep;
 	int ch;
 	int ret;
@@ -114,21 +110,24 @@ esc_calib_main(int argc, char *argv[])
 
 	if (argc < 2) {
 		usage("no channels provided");
+		return 1;
 	}
 
 	int arg_consumed = 0;
 
-	while ((ch = getopt(argc, argv, "d:c:m:al:h:")) != EOF) {
+	int myoptind = 1;
+	const char *myoptarg = NULL;
+	while ((ch = px4_getopt(argc, argv, "d:c:m:al:h:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 
 		case 'd':
-			dev = optarg;
+			dev = myoptarg;
 			arg_consumed += 2;
 			break;
 
 		case 'c':
 			/* Read in channels supplied as one int and convert to mask: 1234 -> 0xF */
-			channels = strtoul(optarg, &ep, 0);
+			channels = strtoul(myoptarg, &ep, 0);
 
 			while ((single_ch = channels % 10)) {
 
@@ -139,9 +138,11 @@ esc_calib_main(int argc, char *argv[])
 
 		case 'm':
 			/* Read in mask directly */
-			set_mask = strtoul(optarg, &ep, 0);
-			if (*ep != '\0')
+			set_mask = strtoul(myoptarg, &ep, 0);
+			if (*ep != '\0') {
 				usage("bad set_mask value");
+				return 1;
+			}
 			break;
 
 		case 'a':
@@ -153,27 +154,34 @@ esc_calib_main(int argc, char *argv[])
 
 		case 'l':
 			/* Read in custom low value */
-			pwm_low = strtoul(optarg, &ep, 0);
-			if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN)
+			pwm_low = strtoul(myoptarg, &ep, 0);
+			if (*ep != '\0' || pwm_low < PWM_LOWEST_MIN || pwm_low > PWM_HIGHEST_MIN) {
 				usage("low PWM invalid");
+				return 1;
+			}
 			break;
 		case 'h':
 			/* Read in custom high value */
-			pwm_high = strtoul(optarg, &ep, 0);
-			if (*ep != '\0' || pwm_high > PWM_HIGHEST_MAX || pwm_high < PWM_LOWEST_MAX)
+			pwm_high = strtoul(myoptarg, &ep, 0);
+			if (*ep != '\0' || pwm_high > PWM_HIGHEST_MAX || pwm_high < PWM_LOWEST_MAX) {
 				usage("high PWM invalid");
+				return 1;
+			}
 			break;
 		default:
 			usage(NULL);
+			return 1;
 		}
 	}
 
 	if (set_mask == 0) {
 		usage("no channels chosen");
+		return 1;
 	}
 
 	if (pwm_low > pwm_high) {
 		usage("low pwm is higher than high pwm");
+		return 1;
 	}
 
 	/* make sure no other source is publishing control values now */
@@ -191,9 +199,10 @@ esc_calib_main(int argc, char *argv[])
 	orb_check(act_sub, &orb_updated);
 
 	if (orb_updated) {
-		errx(1, "ABORTING! Attitude control still active. Please ensure to shut down all controllers:\n"
+		PX4_ERR("ABORTING! Attitude control still active. Please ensure to shut down all controllers:\n"
 			"\tmc_att_control stop\n"
 			"\tfw_att_control stop\n");
+		return 1;
 	}
 
 	printf("\nATTENTION, please remove or fix propellers before starting calibration!\n"
@@ -211,24 +220,22 @@ esc_calib_main(int argc, char *argv[])
 		ret = poll(&fds, 1, 0);
 
 		if (ret > 0) {
-
 			read(0, &c, 1);
 
 			if (c == 'y' || c == 'Y') {
-
 				break;
 
 			} else if (c == 0x03 || c == 0x63 || c == 'q') {
 				printf("ESC calibration exited\n");
-				exit(0);
+				return 0;
 
 			} else if (c == 'n' || c == 'N') {
 				printf("ESC calibration aborted\n");
-				exit(0);
+				return 0;
 
 			} else {
 				printf("Unknown input, ESC calibration aborted\n");
-				exit(0);
+				return 0;
 			}
 		}
 
@@ -239,24 +246,32 @@ esc_calib_main(int argc, char *argv[])
 	/* open for ioctl only */
 	int fd = open(dev, 0);
 
-	if (fd < 0)
-		err(1, "can't open %s", dev);
+	if (fd < 0) {
+		PX4_ERR("can't open %s", dev);
+		return 1;
+	}
 
 	/* get number of channels available on the device */
 	ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&max_channels);
-	if (ret != OK)
-		err(1, "PWM_SERVO_GET_COUNT");
+	if (ret != OK) {
+		PX4_ERR("PWM_SERVO_GET_COUNT");
+		return 1;
+	}
 
 	/* tell IO/FMU that its ok to disable its safety with the switch */
 	ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
-	if (ret != OK)
-		err(1, "PWM_SERVO_SET_ARM_OK");
+	if (ret != OK) {
+		PX4_ERR("PWM_SERVO_SET_ARM_OK");
+		return 1;
+	}
 	/* tell IO/FMU that the system is armed (it will output values if safety is off) */
 	ret = ioctl(fd, PWM_SERVO_ARM, 0);
-	if (ret != OK)
-		err(1, "PWM_SERVO_ARM");
+	if (ret != OK) {
+		PX4_ERR("PWM_SERVO_ARM");
+		return 1;
+	}
 
-	warnx("Outputs armed");
+	printf("Outputs armed");
 
 
 	/* wait for user confirmation */
@@ -273,24 +288,24 @@ esc_calib_main(int argc, char *argv[])
 			if (set_mask & 1<<i) {
 				ret = ioctl(fd, PWM_SERVO_SET(i), pwm_high);
 
-				if (ret != OK)
-					err(1, "PWM_SERVO_SET(%d), value: %d", i, pwm_high);
+				if (ret != OK) {
+					PX4_ERR( "PWM_SERVO_SET(%d), value: %d", i, pwm_high);
+					goto cleanup;
+				}
 			}
 		}
 
 		ret = poll(&fds, 1, 0);
 
 		if (ret > 0) {
-
 			read(0, &c, 1);
 
 			if (c == 13) {
-
 				break;
 
 			} else if (c == 0x03 || c == 0x63 || c == 'q') {
-				warnx("ESC calibration exited");
-				exit(0);
+				printf("ESC calibration exited");
+				goto done;
 			}
 		}
 
@@ -310,24 +325,24 @@ esc_calib_main(int argc, char *argv[])
 			if (set_mask & 1<<i) {
 				ret = ioctl(fd, PWM_SERVO_SET(i), pwm_low);
 
-				if (ret != OK)
-					err(1, "PWM_SERVO_SET(%d), value: %d", i, pwm_low);
+				if (ret != OK) {
+					PX4_ERR("PWM_SERVO_SET(%d), value: %d", i, pwm_low);
+					goto cleanup;
+				}
 			}
 		}
 
 		ret = poll(&fds, 1, 0);
 
 		if (ret > 0) {
-
 			read(0, &c, 1);
 
 			if (c == 13) {
-
 				break;
 
 			} else if (c == 0x03 || c == 0x63 || c == 'q') {
 				printf("ESC calibration exited\n");
-				exit(0);
+				goto done;
 			}
 		}
 
@@ -337,12 +352,19 @@ esc_calib_main(int argc, char *argv[])
 
 	/* disarm */
 	ret = ioctl(fd, PWM_SERVO_DISARM, 0);
-	if (ret != OK)
-		err(1, "PWM_SERVO_DISARM");
+	if (ret != OK) {
+		PX4_ERR("PWM_SERVO_DISARM");
+		goto cleanup;
+	}
 
-	warnx("Outputs disarmed");
+	printf("Outputs disarmed");
 
 	printf("ESC calibration finished\n");
 
-	exit(0);
+done:
+	close(fd);
+	return 0;
+cleanup:
+	close(fd);
+	return 1;
 }

src/systemcmds/reboot/reboot.c

@@ -38,12 +38,10 @@
  */
 
 #include <px4_config.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <getopt.h>
-
+#include <px4_getopt.h>
+#include <px4_tasks.h>
+#include <px4_log.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/err.h>
 
 __EXPORT int reboot_main(int argc, char *argv[]);
 
@@ -52,14 +50,16 @@ int reboot_main(int argc, char *argv[])
 	int ch;
 	bool to_bootloader = false;
 
-	while ((ch = getopt(argc, argv, "b")) != -1) {
+	int myoptind = 1;
+	const char *myoptarg = NULL;
+	while ((ch = px4_getopt(argc, argv, "b", &myoptind, &myoptarg)) != -1) {
 		switch (ch) {
 		case 'b':
 			to_bootloader = true;
 			break;
 
 		default:
-			errx(1, "usage: reboot [-b]\n"
+			PX4_ERR("usage: reboot [-b]\n"
 			     "   -b   reboot into the bootloader");
 
 		}
@@ -67,5 +67,3 @@ int reboot_main(int argc, char *argv[])
 
 	px4_systemreset(to_bootloader);
 }
-
-