POSIX: fixes for use of open vs px4_open, etc

Fixes for the posix build when virtual devices are used.

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

src/modules/commander/PreflightCheck.cpp

@@ -268,7 +268,7 @@ static bool airspeedCheck(int mavlink_fd, bool optional)
 	}
 
 out:
-	close(fd);
+	px4_close(fd);
 	return success;
 }
 
@@ -279,10 +279,10 @@ static bool gnssCheck(int mavlink_fd)
 	int gpsSub = orb_subscribe(ORB_ID(vehicle_gps_position));
 
 	//Wait up to 2000ms to allow the driver to detect a GNSS receiver module
-	struct pollfd fds[1];
+	px4_pollfd_struct_t fds[1];
 	fds[0].fd = gpsSub;
 	fds[0].events = POLLIN;
-	if(poll(fds, 1, 2000) <= 0) {
+	if(px4_poll(fds, 1, 2000) <= 0) {
 		success = false;
 	}
 	else {
@@ -298,7 +298,7 @@ static bool gnssCheck(int mavlink_fd)
 		mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
 	}
 
-	close(gpsSub);
+	px4_close(gpsSub);
 	return success;
 }
 

src/modules/commander/calibration_routines.cpp

@@ -493,7 +493,7 @@ calibrate_return calibrate_from_orientation(int		mavlink_fd,
 	}
 	
 	if (sub_accel >= 0) {
-		close(sub_accel);
+		px4_close(sub_accel);
 	}
 	
 	return result;

src/modules/commander/commander.cpp

@@ -362,7 +362,7 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "check")) {
 		int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
 		int checkres = prearm_check(&status, mavlink_fd_local);
-		close(mavlink_fd_local);
+		px4_close(mavlink_fd_local);
 		warnx("FINAL RESULT: %s", (checkres == 0) ? "OK" : "FAILED");
 		return 0;
 	}
@@ -371,14 +371,14 @@ int commander_main(int argc, char *argv[])
 		int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
 		arm_disarm(true, mavlink_fd_local, "command line");
 		warnx("note: not updating home position on commandline arming!");
-		close(mavlink_fd_local);
+		px4_close(mavlink_fd_local);
 		return 0;
 	}
 
 	if (!strcmp(argv[1], "disarm")) {
 		int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
 		arm_disarm(false, mavlink_fd_local, "command line");
-		close(mavlink_fd_local);
+		px4_close(mavlink_fd_local);
                 return 0;
 	}
 
@@ -389,10 +389,10 @@ int commander_main(int argc, char *argv[])
 void usage(const char *reason)
 {
 	if (reason) {
-		fprintf(stderr, "%s\n", reason);
+		PX4_INFO("%s\n", reason);
 	}
 
-	fprintf(stderr, "usage: commander {start|stop|status|calibrate|check|arm|disarm}\n\n");
+	PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm|disarm}\n\n");
 }
 
 void print_status()
@@ -444,7 +444,7 @@ void print_status()
 		break;
 	}
 
-	close(state_sub);
+	px4_close(state_sub);
 
 
 	warnx("arming: %s", armed_str);
@@ -931,7 +931,6 @@ int commander_thread_main(int argc, char *argv[])
 	if (battery_init() != OK) {
 		mavlink_and_console_log_critical(mavlink_fd, "ERROR: BATTERY INIT FAIL");
 	}
-
 	mavlink_fd = px4_open(MAVLINK_LOG_DEVICE, 0);
 
 	/* vehicle status topic */
@@ -2166,7 +2165,7 @@ int commander_thread_main(int argc, char *argv[])
 			arm_tune_played = false;
 		}
 
-		fflush(stdout);
+		//fflush(stdout);
 		counter++;
 
 		int blink_state = blink_msg_state();
@@ -2200,18 +2199,18 @@ int commander_thread_main(int argc, char *argv[])
 	/* close fds */
 	led_deinit();
 	buzzer_deinit();
-	close(sp_man_sub);
-	close(offboard_control_mode_sub);
-	close(local_position_sub);
-	close(global_position_sub);
-	close(gps_sub);
-	close(sensor_sub);
-	close(safety_sub);
-	close(cmd_sub);
-	close(subsys_sub);
-	close(diff_pres_sub);
-	close(param_changed_sub);
-	close(battery_sub);
+	px4_close(sp_man_sub);
+	px4_close(offboard_control_mode_sub);
+	px4_close(local_position_sub);
+	px4_close(global_position_sub);
+	px4_close(gps_sub);
+	px4_close(sensor_sub);
+	px4_close(safety_sub);
+	px4_close(cmd_sub);
+	px4_close(subsys_sub);
+	px4_close(diff_pres_sub);
+	px4_close(param_changed_sub);
+	px4_close(battery_sub);
 
 	thread_running = false;
 
@@ -2977,7 +2976,7 @@ void *commander_low_prio_loop(void *arg)
 		}
 	}
 
-	close(cmd_sub);
+	px4_close(cmd_sub);
 
 	return NULL;
 }

src/modules/commander/mag_calibration.cpp

@@ -243,7 +243,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
 		/* abort on request */
 		if (calibrate_cancel_check(worker_data->mavlink_fd, cancel_sub)) {
 			result = calibrate_return_cancelled;
-			close(sub_gyro);
+			px4_close(sub_gyro);
 			return result;
 		}
 
@@ -256,12 +256,12 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
 		}
 
 		/* Wait clocking for new data on all gyro */
-		struct pollfd fds[1];
+		px4_pollfd_struct_t fds[1];
 		fds[0].fd = sub_gyro;
 		fds[0].events = POLLIN;
 		size_t fd_count = 1;
 
-		int poll_ret = poll(fds, fd_count, 1000);
+		int poll_ret = px4_poll(fds, fd_count, 1000);
 
 		if (poll_ret > 0) {
 			struct gyro_report gyro;
@@ -281,7 +281,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
 		}
 	}
 
-	close(sub_gyro);
+	px4_close(sub_gyro);
 	
 	uint64_t calibration_deadline = hrt_absolute_time() + worker_data->calibration_interval_perside_useconds;
 	unsigned poll_errcount = 0;

src/modules/commander/state_machine_helper_posix.cpp

@@ -371,7 +371,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, int status_pub,
 						break;
 
 					/* skip mavlink */
-					if (!strcmp("/dev/mavlink", devname)) {
+					if (!strcmp(MAVLINK_LOG_DEVICE, devname)) {
 						continue;
 					}