delete px4_includes.h header and update boards/ to use syslog

src/drivers/barometer/lps22hb/LPS22HB.hpp

@@ -44,6 +44,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/device/ringbuffer.h>
 #include <drivers/drv_device.h>
+#include <systemlib/err.h>
 
 #include <uORB/uORB.h>
 

src/drivers/batt_smbus/batt_smbus.cpp

@@ -43,6 +43,8 @@
 
 #include "batt_smbus.h"
 
+#include <stdlib.h>
+
 extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]);
 
 struct work_s BATT_SMBUS::_work = {};

src/drivers/differential_pressure/ms5525/MS5525_main.cpp

@@ -35,6 +35,8 @@
 
 #include <px4_getopt.h>
 
+#include <stdlib.h>
+
 // Driver 'main' command.
 extern "C" __EXPORT int ms5525_airspeed_main(int argc, char *argv[]);
 

src/drivers/differential_pressure/sdp3x/SDP3X_main.cpp

@@ -32,8 +32,11 @@
  ****************************************************************************/
 
 #include "SDP3X.hpp"
+
 #include <px4_getopt.h>
 
+#include <stdlib.h>
+
 // Driver 'main' command.
 extern "C" __EXPORT int sdp3x_airspeed_main(int argc, char *argv[]);
 

src/drivers/distance_sensor/leddar_one/leddar_one.cpp

@@ -36,6 +36,7 @@
 #include <px4_getopt.h>
 #include <px4_defines.h>
 
+#include <stdlib.h>
 #include <string.h>
 #include <termios.h>
 

src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp

@@ -122,7 +122,7 @@ void LidarLitePWM::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_read_errors);
 	perf_print_counter(_sensor_zero_resets);
-	warnx("poll interval:  %u ticks", getMeasureTicks());
+	PX4_INFO("poll interval:  %u ticks", getMeasureTicks());
 
 	print_message(_range);
 }

src/drivers/distance_sensor/ulanding/ulanding.cpp

@@ -303,8 +303,6 @@ Radar::task_main_trampoline(int argc, char *argv[])
 int
 Radar::start()
 {
-	ASSERT(_task_handle == -1);
-
 	/* start the task */
 	_task_handle = px4_task_spawn_cmd("ulanding_radar",
 					  SCHED_DEFAULT,

src/drivers/imu/adis16477/ADIS16477.hpp

@@ -49,6 +49,7 @@
 #include <lib/conversion/rotation.h>
 #include <perf/perf_counter.h>
 #include <ecl/geo/geo.h>
+#include <systemlib/err.h>
 
 #define ADIS16477_GYRO_DEFAULT_RATE					250
 #define ADIS16477_GYRO_DEFAULT_DRIVER_FILTER_FREQ	30

src/drivers/imu/bmi055/BMI055.hpp

@@ -40,6 +40,7 @@
 #include <lib/perf/perf_counter.h>
 #include <px4_config.h>
 #include <systemlib/conversions.h>
+#include <systemlib/err.h>
 
 #define DIR_READ                0x80
 #define DIR_WRITE               0x00

src/drivers/imu/fxas21002c/fxas21002c.cpp

@@ -73,6 +73,7 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 #include <platforms/px4_getopt.h>
+#include <systemlib/err.h>
 
 /* SPI protocol address bits */
 #define DIR_READ(a)                     ((a) | (1 << 7))

src/drivers/imu/fxos8701cq/fxos8701cq.cpp

@@ -77,6 +77,7 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 #include <platforms/px4_getopt.h>
+#include <systemlib/err.h>
 
 /* SPI protocol address bits */
 #define DIR_READ(a)                     ((a) & 0x7f)

src/drivers/imu/mpu9250/mpu9250.h

@@ -48,6 +48,7 @@
 #include <drivers/drv_mag.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
+#include <systemlib/err.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/debug_key_value.h>

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -31,13 +31,16 @@
  *
  ****************************************************************************/
 
+#include <errno.h>
 #include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <cmath>
 
 #include <px4_tasks.h>
 #include <px4_getopt.h>
 #include <px4_posix.h>
-#include <errno.h>
-#include <cmath>	// NAN
 
 #include <uORB/uORB.h>
 #include <uORB/topics/actuator_controls.h>
@@ -461,8 +464,6 @@ void task_main_trampoline(int argc, char *argv[])
 
 void start()
 {
-	ASSERT(_task_handle == -1);
-
 	_task_should_exit = false;
 
 	/* start the task */
@@ -474,7 +475,7 @@ void start()
 					  nullptr);
 
 	if (_task_handle < 0) {
-		warn("task start failed");
+		PX4_ERR("task start failed");
 		return;
 	}
 

src/drivers/linux_sbus/linux_sbus.cpp

@@ -33,7 +33,12 @@
  *
  ****************************************************************************/
 #include "linux_sbus.h"
+
+#include <stdlib.h>
+#include <string.h>
+
 using namespace linux_sbus;
+
 //---------------------------------------------------------------------------------------------------------//
 int RcInput::init()
 {

src/drivers/magnetometer/lis3mdl/lis3mdl.h

@@ -47,6 +47,7 @@
 #include <drivers/drv_mag.h>
 
 #include <lib/conversion/rotation.h>
+#include <systemlib/err.h>
 
 #include <perf/perf_counter.h>
 #include <px4_defines.h>

src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp

@@ -43,6 +43,7 @@
 #include <lib/conversion/rotation.h>
 #include <perf/perf_counter.h>
 #include <px4_workqueue.h>
+#include <systemlib/err.h>
 
 // Register mapping
 static constexpr uint8_t WHO_AM_I_M = 0x4F;

src/drivers/magnetometer/rm3100/rm3100.h

@@ -50,6 +50,7 @@
 
 #include <perf/perf_counter.h>
 #include <px4_defines.h>
+#include <systemlib/err.h>
 
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.

src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp

@@ -38,7 +38,7 @@
 #include <px4_posix.h>
 #include <errno.h>
 #include <cmath>	// NAN
-
+#include <string.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/actuator_controls.h>
@@ -505,8 +505,6 @@ void task_main_trampoline(int argc, char *argv[])
 
 void start()
 {
-	ASSERT(_task_handle == -1);
-
 	_task_should_exit = false;
 
 	/* start the task */
@@ -518,7 +516,7 @@ void start()
 					  nullptr);
 
 	if (_task_handle < 0) {
-		warn("task start failed");
+		PX4_ERR("task start failed");
 		return;
 	}
 

src/drivers/spektrum_rc/spektrum_rc.cpp

@@ -39,6 +39,8 @@
  * on the serial port. By default port J12 (next to J13, power module side) is used.
  */
 
+#include <string.h>
+
 #include <px4_tasks.h>
 #include <px4_posix.h>
 #include <px4_getopt.h>
@@ -212,8 +214,6 @@ int start(int argc, char *argv[])
 		return -1;
 	}
 
-	ASSERT(_task_handle == -1);
-
 	_task_should_exit = false;
 
 	_task_handle = px4_task_spawn_cmd("spektrum_rc_main",

src/drivers/uavcan/sensors/sensor_bridge.hpp

@@ -41,6 +41,7 @@
 #include <uavcan/uavcan.hpp>
 #include <drivers/device/device.h>
 #include <drivers/drv_orb_dev.h>
+#include <uORB/uORB.h>
 
 /**
  * A sensor bridge class must implement this interface.

src/examples/bottle_drop/bottle_drop.cpp

@@ -222,8 +222,6 @@ BottleDrop::~BottleDrop()
 int
 BottleDrop::start()
 {
-	ASSERT(_main_task == -1);
-
 	/* start the task */
 	_main_task = px4_task_spawn_cmd("bottle_drop",
 					SCHED_DEFAULT,

src/include/px4.h

@@ -39,7 +39,6 @@
 
 #pragma once
 
-#include "../platforms/px4_includes.h"
 #include "../platforms/px4_defines.h"
 #ifdef __cplusplus
 #include "../platforms/px4_middleware.h"

src/lib/cdev/posix/cdev_platform.hpp

@@ -2,6 +2,7 @@
 #pragma once
 
 #include <inttypes.h>
+#include <string.h>
 
 #define ATOMIC_ENTER lock()
 #define ATOMIC_LEAVE unlock()

src/lib/drivers/linux_gpio/linux_gpio.cpp

@@ -33,10 +33,14 @@
 
 #include "linux_gpio.h"
 
-#include <px4_posix.h>
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include <px4_posix.h>
 
 #define PIN_INDEX_BUFFER_MAX (16)
 #define PIN_DIRECTION_BUFFER_MAX (30 + PIN_INDEX_BUFFER_MAX)

src/lib/parameters/flashparams/flashparams.cpp

@@ -45,9 +45,11 @@
 #include <px4_defines.h>
 #include <px4_posix.h>
 #include <px4_shutdown.h>
+
 #include <string.h>
 #include <stdbool.h>
 #include <stdint.h>
+#include <errno.h>
 
 #include <parameters/param.h>
 

src/lib/tunes/tunes.cpp

@@ -40,6 +40,7 @@
 #include <px4_log.h>
 #include <math.h>
 #include <ctype.h>
+#include <errno.h>
 
 #define TUNE_ERROR -1
 #define TUNE_STOP 0

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -229,8 +229,6 @@ AttitudeEstimatorQ::~AttitudeEstimatorQ()
 
 int AttitudeEstimatorQ::start()
 {
-	ASSERT(_control_task == -1);
-
 	/* start the task */
 	_control_task = px4_task_spawn_cmd("attitude_estimator_q",
 					   SCHED_DEFAULT,

src/modules/gnd_att_control/GroundRoverAttitudeControl.cpp

@@ -223,7 +223,7 @@ GroundRoverAttitudeControl::task_main()
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
-			warn("poll error %d, %d", pret, errno);
+			PX4_ERR("poll error %d, %d", pret, errno);
 			continue;
 		}
 
@@ -298,7 +298,7 @@ GroundRoverAttitudeControl::task_main()
 						perf_count(_nonfinite_output_perf);
 
 						if (_debug && loop_counter % 10 == 0) {
-							warnx("yaw_u %.4f", (double)yaw_u);
+							PX4_INFO("yaw_u %.4f", (double)yaw_u);
 						}
 					}
 
@@ -343,7 +343,7 @@ GroundRoverAttitudeControl::task_main()
 		perf_end(_loop_perf);
 	}
 
-	warnx("exiting.\n");
+	PX4_INFO("exiting.");
 
 	_control_task = -1;
 	_task_running = false;
@@ -352,8 +352,6 @@ GroundRoverAttitudeControl::task_main()
 int
 GroundRoverAttitudeControl::start()
 {
-	ASSERT(_control_task == -1);
-
 	/* start the task */
 	_control_task = px4_task_spawn_cmd("gnd_att_control",
 					   SCHED_DEFAULT,
@@ -363,7 +361,7 @@ GroundRoverAttitudeControl::start()
 					   nullptr);
 
 	if (_control_task < 0) {
-		warn("task start failed");
+		PX4_ERR("task start failed");
 		return -errno;
 	}
 
@@ -373,28 +371,28 @@ GroundRoverAttitudeControl::start()
 int gnd_att_control_main(int argc, char *argv[])
 {
 	if (argc < 2) {
-		warnx("usage: gnd_att_control {start|stop|status}");
+		PX4_INFO("usage: gnd_att_control {start|stop|status}");
 		return 1;
 	}
 
 	if (!strcmp(argv[1], "start")) {
 
 		if (att_gnd_control::g_control != nullptr) {
-			warnx("already running");
+			PX4_WARN("already running");
 			return 1;
 		}
 
 		att_gnd_control::g_control = new GroundRoverAttitudeControl;
 
 		if (att_gnd_control::g_control == nullptr) {
-			warnx("alloc failed");
+			PX4_ERR("alloc failed");
 			return 1;
 		}
 
 		if (PX4_OK != att_gnd_control::g_control->start()) {
 			delete att_gnd_control::g_control;
 			att_gnd_control::g_control = nullptr;
-			warn("start failed");
+			PX4_ERR("start failed");
 			return 1;
 		}
 
@@ -416,7 +414,7 @@ int gnd_att_control_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "stop")) {
 		if (att_gnd_control::g_control == nullptr) {
-			warnx("not running");
+			PX4_WARN("not running");
 			return 1;
 		}
 
@@ -427,15 +425,15 @@ int gnd_att_control_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (att_gnd_control::g_control) {
-			warnx("running");
+			PX4_INFO("running");
 			return 0;
 
 		} else {
-			warnx("not running");
+			PX4_INFO("not running");
 			return 1;
 		}
 	}
 
-	warnx("unrecognized command");
+	PX4_WARN("unrecognized command");
 	return 1;
 }

src/modules/gnd_pos_control/GroundRoverPositionControl.cpp

@@ -484,8 +484,6 @@ GroundRoverPositionControl::task_main_trampoline(int argc, char *argv[])
 int
 GroundRoverPositionControl::start()
 {
-	ASSERT(_control_task == -1);
-
 	/* start the task */
 	_control_task = px4_task_spawn_cmd("gnd_pos_ctrl",
 					   SCHED_DEFAULT,

src/modules/logger/log_writer_file.cpp

@@ -33,8 +33,10 @@
 
 #include "log_writer_file.h"
 #include "messages.h"
+
 #include <fcntl.h>
 #include <string.h>
+#include <errno.h>
 
 #include <mathlib/mathlib.h>
 #include <px4_posix.h>

src/modules/logger/logger.cpp

@@ -52,7 +52,6 @@
 #include <uORB/topics/vehicle_command_ack.h>
 
 #include <drivers/drv_hrt.h>
-#include <px4_includes.h>
 #include <px4_getopt.h>
 #include <px4_log.h>
 #include <px4_posix.h>

src/modules/mavlink/mavlink_timesync.cpp

@@ -41,6 +41,8 @@
 #include "mavlink_timesync.h"
 #include "mavlink_main.h"
 
+#include <stdlib.h>
+
 MavlinkTimesync::MavlinkTimesync(Mavlink *mavlink) :
 	_mavlink(mavlink)
 {

src/modules/muorb/adsp/uORBFastRpcChannel.cpp

@@ -33,6 +33,7 @@
 #include "uORBFastRpcChannel.hpp"
 #include "px4_log.h"
 #include <algorithm>
+#include <string.h>
 #include <drivers/drv_hrt.h>
 
 // static initialization.

src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp

@@ -40,6 +40,7 @@
 #include "px4_log.h"
 #include <shmem.h>
 #include <drivers/drv_hrt.h>
+#include <string.h>
 
 using namespace px4muorb;
 

src/modules/muorb/krait/uORBKraitFastRpcChannel.cpp

@@ -37,6 +37,7 @@
 #include <drivers/drv_hrt.h>
 #include <cstdio>
 #include <pthread.h>
+#include <string.h>
 
 #define LOG_TAG "uORBKraitFastRpcChannel.cpp"
 

src/platforms/common/px4_log.c

@@ -31,9 +31,11 @@
  *
  ****************************************************************************/
 
+#include <assert.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+
 #include <px4_log.h>
 #if defined(__PX4_POSIX)
 #if !defined(__PX4_CYGWIN)
@@ -55,7 +57,7 @@ __EXPORT const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1] =
 
 void px4_log_initialize(void)
 {
-	ASSERT(orb_log_message_pub == NULL);
+	assert(orb_log_message_pub == NULL);
 
 	/* we need to advertise with a valid message */
 	struct log_message_s log_message;

src/platforms/common/work_queue/hrt_thread.c

@@ -52,6 +52,8 @@
 #include <drivers/drv_hrt.h>
 #include "hrt_work.h"
 
+#include <string.h>
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/

src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp

@@ -39,6 +39,7 @@
  * motor and contol commands to the Bebop and reads its status and informations.
  */
 
+#include <stdlib.h>
 #include <stdint.h>
 
 #include <px4_tasks.h>
@@ -300,7 +301,7 @@ int initialize_mixers(const char *mixers_filename)
 	PX4_INFO("Trying to initialize mixers from config file %s", mixers_filename);
 
 	if (load_mixer_file(mixers_filename, &buf[0], sizeof(buf)) < 0) {
-		warnx("can't load mixer: %s", mixers_filename);
+		PX4_ERR("can't load mixer: %s", mixers_filename);
 		return -1;
 	}
 
@@ -484,9 +485,6 @@ int start()
 	DevMgr::releaseHandle(h);
 
 	// Start the task to forward the motor control commands
-	ASSERT(_task_handle == -1);
-
-	/* start the task */
 	_task_handle = px4_task_spawn_cmd("bebop_bus_esc_main",
 					  SCHED_DEFAULT,
 					  SCHED_PRIORITY_MAX,
@@ -495,7 +493,7 @@ int start()
 					  nullptr);
 
 	if (_task_handle < 0) {
-		warn("task start failed");
+		PX4_ERR("task start failed");
 		return -1;
 	}
 

src/platforms/px4_defines.h

@@ -77,7 +77,6 @@
  * Building for NuttX or POSIX.
  ****************************************************************************/
 
-#include <platforms/px4_includes.h>
 /* Main entry point */
 #define PX4_MAIN_FUNCTION(_prefix) int _prefix##_task_main(int argc, char *argv[])
 

src/platforms/px4_includes.h

@@ -1,80 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
- *
- * 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 PX4 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.
- *
- ****************************************************************************/
-
-/**
- * @file px4_includes.h
- *
- * Includes headers depending on the build target
- */
-
-#pragma once
-
-#if defined(__PX4_NUTTX)
-/*
- * Building for NuttX
- */
-#include <nuttx/config.h>
-#include <uORB/uORB.h>
-
-#include <systemlib/err.h>
-#include <parameters/param.h>
-
-#elif defined(__PX4_POSIX) && !defined(__PX4_QURT)
-/*
- * Building for Posix
- */
-#include <string.h>
-#include <assert.h>
-#include <uORB/uORB.h>
-
-#define ASSERT(x) assert(x)
-
-#include <systemlib/err.h>
-#include <parameters/param.h>
-
-#elif defined(__PX4_QURT)
-/*
- * Building for QuRT
- */
-#include <string.h>
-#include <assert.h>
-#include <uORB/uORB.h>
-
-#define ASSERT(x) assert(x)
-
-#include <systemlib/err.h>
-#include <parameters/param.h>
-
-#else
-#error "No target platform defined"
-#endif

src/platforms/px4_log.h

@@ -38,7 +38,6 @@
 
 #pragma once
 
-
 #define _PX4_LOG_LEVEL_DEBUG		0
 #define _PX4_LOG_LEVEL_INFO		1
 #define _PX4_LOG_LEVEL_WARN		2

src/systemcmds/led_control/led_control.cpp

@@ -39,6 +39,7 @@
 #include <px4_module.h>
 #include <px4_log.h>
 
+#include <stdlib.h>
 #include <unistd.h>
 
 #include <drivers/drv_hrt.h>

src/systemcmds/sd_bench/sd_bench.c

@@ -44,7 +44,6 @@
 
 #include <px4_config.h>
 #include <px4_module.h>
-#include <px4_includes.h>
 #include <px4_getopt.h>
 #include <px4_log.h>
 

src/systemcmds/tests/test_mixer.cpp

@@ -38,8 +38,10 @@
  */
 
 #include <dirent.h>
+#include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
+#include <math.h>
 
 #include <px4_config.h>
 #include <mixer/mixer.h>
@@ -397,13 +399,13 @@ bool MixerTest::mixerTest()
 
 		if (i != actuator_controls_s::INDEX_THROTTLE) {
 			if (r_page_servos[i] < r_page_servo_control_min[i]) {
-				warnx("active servo < min");
+				PX4_ERR("active servo < min");
 				return false;
 			}
 
 		} else {
 			if (r_page_servos[i] != r_page_servo_disarmed[i]) {
-				warnx("throttle output != 0 (this check assumed the IO pass mixer!)");
+				PX4_ERR("throttle output != 0 (this check assumed the IO pass mixer!)");
 				return false;
 			}
 		}

src/systemcmds/tests/test_parameters.cpp

@@ -1,6 +1,8 @@
 #include <unit_test.h>
 
 #include <px4_defines.h>
+
+#include <errno.h>
 #include <fcntl.h>
 #include <unistd.h>
 

src/systemcmds/tune_control/tune_control.cpp

@@ -41,8 +41,10 @@
 #include <px4_getopt.h>
 #include <px4_log.h>
 
+#include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
+#include <errno.h>
 
 #include <px4_module.h>