Rebase changes on upstream master

This brings in many of the changes from the PX4 fork on ATLFLight.

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

src/platforms/posix/px4_layer/px4_posix_impl.cpp

@@ -60,6 +60,11 @@ long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
 
 #ifdef ENABLE_SHMEM
 extern void init_params(void);
+
+#ifdef ENABLE_SHMEM
+extern void init_own_params(void);
+extern unsigned int init_other_params(void);
+extern unsigned int param_sync_done;
 #endif
 
 __END_DECLS
@@ -78,8 +83,9 @@ void init_once(void)
 	hrt_init();
 
 #ifdef ENABLE_SHMEM
-	PX4_INFO("Syncing params to shared memory\n");
-	init_params();
+	PX4_INFO("Starting shared memory param sync\n");
+	init_own_params();
+	param_sync_done=init_other_params();
 #endif
 }
 

src/platforms/posix/px4_layer/shmem_posix.c

@@ -1,6 +1,7 @@
+
 /****************************************************************************
  *
- * Copyright (c) 2015 Vijay Venkatraman. All rights reserved.
+ * Copyright (c) 2015 Ramakrishna Kintada. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,6 +32,7 @@
  *
  ****************************************************************************/
 
+
 #include <px4_defines.h>
 #include <px4_posix.h>
 #include <string.h>
@@ -56,8 +58,8 @@
 
 int mem_fd;
 unsigned char *map_base, *virt_addr;
-struct shmem_info *shmem_info_p;
-static void *map_memory(off_t target);
+struct shmem_info* shmem_info_p;
+static void* map_memory(off_t target);
 
 int get_shmem_lock(void);
 void release_shmem_lock(void);
@@ -236,6 +238,7 @@ static void update_index_from_shmem(void)
 	release_shmem_lock();
 }
 
+
 static void update_value_from_shmem(param_t param, union param_value_u *value)
 {
 	unsigned int byte_changed, bit_changed;

src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp

@@ -61,10 +61,12 @@ static int writer_main(int argc, char *argv[])
 
 	int fd = px4_open(TESTDEV, PX4_F_WRONLY);
 
+	int fd = px4_open(TESTDEV, PX4_F_WRONLY);
 	if (fd < 0) {
 		PX4_INFO("Writer: Open failed %d %d", fd, px4_errno);
 		return -px4_errno;
 	}
+src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
 
 	int ret;
 	int i = 0;
@@ -92,6 +94,12 @@ static int writer_main(int argc, char *argv[])
 
 class PrivData
 {
+	PrivData() : _read_offset(0) {}
+	~PrivData() {}
+
+	size_t _read_offset;
+};
+
 public:
 	PrivData() : _read_offset(0) {}
 	~PrivData() {}
@@ -321,12 +329,16 @@ int VCDevExample::main()
 				 (char *const *)NULL);
 
 	ret = 0;
-
 	PX4_INFO("TEST: BLOCKING POLL ---------------");
 
 	if (do_poll(fd, -1, 3, 0)) {
 		ret = 1;
 		goto fail2;
+	PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");
+	if(do_poll(fd, 0, 3, 0)) {
+		ret = 1;
+		goto fail2;
+		goto fail2;
 	}
 
 	PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");

src/platforms/px4_posix.h

@@ -77,10 +77,20 @@ typedef sem_t px4_sem_t;
 
 #define px4_sem_init	 sem_init
 #define px4_sem_wait	 sem_wait
+
 #define px4_sem_post	 sem_post
 #define px4_sem_getvalue sem_getvalue
 #define px4_sem_destroy	 sem_destroy
 
+#if 0
+// TODO: Implement this function or remove it from the implementation.
+// #define px4_sem_timedwait sem_timedwait
+inline int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime)
+{
+	return -1;
+}
+#endif
+
 #ifdef __PX4_QURT
 __EXPORT int		px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
 #else

src/platforms/qurt/px4_layer/main.cpp

@@ -73,30 +73,30 @@ static void run_cmd(map<string, px4_main_t> &apps, const vector<string> &appargs
 	string command = appargs[0];
 
 	//replaces app.find with iterator code to avoid null pointer exception
-	for (map<string, px4_main_t>::iterator it = apps.begin(); it != apps.end(); ++it)
-		if (it->first == command) {
-			const char *arg[2 + 1];
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+	if (it->first == command) {
+		const char *arg[2 + 1];
 
-			unsigned int i = 0;
-
-			while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
-				arg[i] = (char *)appargs[i].c_str();
-				PX4_WARN("  arg%d = '%s'\n", i, arg[i]);
-				++i;
-			}
-
-			arg[i] = (char *)0;
-
-			//PX4_DEBUG_PRINTF(i);
-			if (apps[command] == NULL) {
-				PX4_ERR("Null function !!\n");
-
-			} else {
-				apps[command](i, (char **)arg);
-				break;
-			}
+		unsigned int i = 0;
 
+		while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
+			arg[i] = (char *)appargs[i].c_str();
+			PX4_WARN("  arg%d = '%s'\n", i, arg[i]);
+			++i;
 		}
+
+		arg[i] = (char *)0;
+
+		//PX4_DEBUG_PRINTF(i);
+		if (apps[command] == NULL) {
+			PX4_ERR("Null function !!\n");
+
+		} else {
+			apps[command](i, (char **)arg);
+			break;
+		}
+
+	}
 }
 
 void eat_whitespace(const char *&b, int &i)
@@ -115,6 +115,7 @@ static void process_commands(map<string, px4_main_t> &apps, const char *cmds)
 	const char *b = cmds;
 	char arg[256];
 
+
 	// Eat leading whitespace
 	eat_whitespace(b, i);
 

src/platforms/qurt/px4_layer/px4_qurt_impl.cpp

@@ -71,7 +71,9 @@ unsigned int sleep(unsigned int sec)
 }
 
 extern void hrt_init(void);
-extern void init_params();
+extern void init_own_params();
+extern unsigned int init_other_params();
+extern unsigned int param_sync_done;
 
 #if 0
 void qurt_log(const char *fmt, ...)
@@ -110,8 +112,9 @@ void init_once(void)
 	hrt_init();
 	PX4_WARN("after calling hrt_init");
 
-	/* Shared memory param sync*/
-	init_params();
+	/*Shared memory param sync*/
+	init_own_params();
+	param_sync_done=init_other_params();
 }
 
 void init(int argc, char *argv[], const char *app_name)

src/platforms/shmem.h

@@ -1,4 +1,3 @@
-
 /****************************************************************************
  *
  * Copyright (c) 2015 Ramakrishna Kintada. All rights reserved.