From 4f29c7c4db6ba9627d92945cfea3ceab5dad3ef4 Mon Sep 17 00:00:00 2001
From: MaEtUgR <maetugr@gmail.com>
Date: Wed, 9 Mar 2016 09:38:32 +0100
Subject: [PATCH] switch the modules implementing the block structure to
 px4_poll such that in posix_sitl simulation the poll works as expected,
 blocks the module and doesn't overload the CPU

---
 .../local_position_estimator/BlockLocalPositionEstimator.cpp   | 2 +-
 .../local_position_estimator/BlockLocalPositionEstimator.hpp   | 3 ++-
 src/modules/segway/BlockSegwayController.cpp                   | 2 +-
 src/modules/segway/BlockSegwayController.hpp                   | 3 ++-
 4 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index 5685e7fdd5..26753fc755 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -221,7 +221,7 @@ void BlockLocalPositionEstimator::update()
 {
 
 	// wait for a sensor update, check for exit condition every 100 ms
-	int ret = poll(_polls, 3, 100);
+	int ret = px4_poll(_polls, 3, 100);
 
 	if (ret < 0) {
 		/* poll error, count it in perf */
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
index dcbeb69dc0..a77a358363 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <px4_posix.h>
 #include <controllib/uorb/blocks.hpp>
 #include <mathlib/mathlib.h>
 #include <systemlib/perf_counter.h>
@@ -262,7 +263,7 @@ private:
 	//BlockDelay<uint64_t, 1, 1, HIST_LEN> _tDelay;
 
 	// misc
-	struct pollfd _polls[3];
+	px4_pollfd_struct_t _polls[3];
 	uint64_t _timeStamp;
 	//uint64_t _time_last_hist;
 	uint64_t _time_last_xy;
diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
index ba7665201a..4750595d33 100644
--- a/src/modules/segway/BlockSegwayController.cpp
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -3,7 +3,7 @@
 void BlockSegwayController::update()
 {
 	// wait for a sensor update, check for exit condition every 100 ms
-	if (poll(&_attPoll, 1, 100) < 0) { return; } // poll error
+	if (px4_poll(&_attPoll, 1, 100) < 0) { return; } // poll error
 
 	uint64_t newTimeStamp = hrt_absolute_time();
 	float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp
index 4413a3cff8..450b4e3ff9 100644
--- a/src/modules/segway/BlockSegwayController.hpp
+++ b/src/modules/segway/BlockSegwayController.hpp
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <px4_posix.h>
 #include <controllib/uorb/blocks.hpp>
 
 using namespace control;
@@ -22,7 +23,7 @@ private:
 	enum {CH_LEFT, CH_RIGHT};
 	BlockPI th2v;
 	BlockP q2v;
-	struct pollfd _attPoll;
+	px4_pollfd_struct_t _attPoll;
 	uint64_t _timeStamp;
 };