QuRT: toolchain changes

Reworking toolchain and main.cpp for QuRT to a final link can be
done and the apps.h file is autogenerated.

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

src/platforms/qurt/main.cpp

@@ -37,12 +37,9 @@
  * @author Mark Charlebois <charlebm@gmail.com>
  */
 
-#include <iostream>
-#include <fstream>
 #include <string>
-#include <sstream>
 #include <vector>
-#include <hexagon_standalone.h>
+//#include <hexagon_standalone.h>
 
 //using namespace std;
 
@@ -52,7 +49,6 @@
 #include "px4_middleware.h"
 
 static const char *commands = 
-"x\n"
 "hello start"
 #if 0
 "uorb start\n"
@@ -79,15 +75,15 @@ static const char *commands =
 static void run_cmd(const vector<string> &appargs) {
 	// command is appargs[0]
 	string command = appargs[0];
-	printf("Looking for %s\n", command.c_str());
+	//printf("Looking for %s\n", command.c_str());
 	if (apps.find(command) != apps.end()) {
 		const char *arg[2+1];
 
 		unsigned int i = 0;
-		printf("size = %d\n", appargs.size());
+		//printf("size = %d\n", appargs.size());
 		while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
 			arg[i] = (char *)appargs[i].c_str();
-			printf("  arg = '%s'\n", arg[i]);
+			//printf("  arg = '%s'\n", arg[i]);
 			++i;
 		}
 		arg[i] = (char *)0;
@@ -97,7 +93,7 @@ static void run_cmd(const vector<string> &appargs) {
 	}
 	else
 	{
-		cout << "Invalid command" << endl;
+		//cout << "Invalid command" << endl;
 		list_builtins();
 	}
 }
@@ -159,8 +155,10 @@ extern void init_once(void);
 
 int main(int argc, char **argv)
 {
+	printf("In main\n");
 	px4::init_once();
 	px4::init(argc, argv, "mainapp");
 	process_commands(commands);
 	for (;;) {}
 }
+

src/platforms/qurt/px4_layer/module.mk

@@ -35,6 +35,15 @@
 # NuttX / uORB adapter library
 #
 
+SRCDIR=$(dir $(MODULE_MK))
+
+apps.h: $(PX4_BASE)/Tools/qurt_apps.py
+	$(PX4_BASE)/Tools/qurt_apps.py > $@
+
+# Force creation of apps.h
+main_.cpp: $(SRCDIR)/../main.cpp apps.h
+	cp $(SRCDIR)/../main.cpp $@
+
 SRCS		 = 	\
 			px4_qurt_impl.cpp \
 			px4_qurt_tasks.cpp  \
@@ -49,6 +58,7 @@ SRCS		 = 	\
 			sq_addlast.c \
 			sq_remfirst.c \
 			sq_addafter.c \
-			dq_rem.c 
+			dq_rem.c \
+			main_.cpp 
 
 MAXOPTIMIZATION	 = -Os

src/platforms/qurt/px4_layer/px4_qurt_impl.cpp

@@ -46,7 +46,9 @@
 #include <signal.h>
 #include <errno.h>
 #include <unistd.h>
+#include <semaphore.h>
 #include "systemlib/param/param.h"
+#include <hexagon_standalone.h>
 
 __BEGIN_DECLS
 
@@ -58,6 +60,14 @@ unsigned int sleep(unsigned int sec) { return 0; }
 
 extern void hrt_init(void);
 
+void qurt_log(const char *fmt, ...)
+{
+	va_list	args;
+	va_start(args, fmt);
+	printf(fmt, args);
+	printf("n");
+}
+
 __END_DECLS
 
 extern struct wqueue_s gwork[NWORKERS];
@@ -71,12 +81,7 @@ void init_once(void)
 {
 	work_queues_init();
 	hrt_init();
-}
-
-void init(int argc, char *argv[], const char *app_name)
-{
-	printf("App name: %s\n", app_name);
-
+	
 	// Create high priority worker thread
 	g_work[HPWORK].pid = px4_task_spawn_cmd("wkr_high",
 			       SCHED_DEFAULT,
@@ -95,6 +100,11 @@ void init(int argc, char *argv[], const char *app_name)
 
 }
 
+void init(int argc, char *argv[], const char *app_name)
+{
+	PX4_DEBUG("App name: %s\n", app_name);
+}
+
 }
 
 /** Retrieve from the data manager store */
@@ -131,12 +141,3 @@ size_t strnlen(const char *s, size_t maxlen)
 	return i;
 }
 
-void qurt_log(const char *fmt, ...)
-{
-	va_list args;
-
-	va_start(args, fmt);
-	vprintf(fmt, args);
-	printf("\n");
-}
-