Abstractions to compile systemlib for Linux and Nuttx

Modified uint32_t casts of pointers to unsigned long for portability.
It otherwise breaks on x86_64.

Added _PX4_IOC to handle the conflice between _IOC on Linux and NuttX.

Removed use of px4::ok() because it cannot be used in a thread based
implementation. Changed to use px4::AppMgr which uses ok() on ROS.

Removed up_cxxinitialize.c from Linux build.

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

src/platforms/linux/include/crc32.h

@@ -0,0 +1,83 @@
+/****************************************************************************
+ * include/crc.h
+ *
+ *   Copyright (C) 2010 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_CRC32_H
+#define __INCLUDE_CRC32_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/types.h>
+#include <stdint.h>
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: crc32part
+ *
+ * Description:
+ *   Continue CRC calculation on a part of the buffer.
+ *
+ ****************************************************************************/
+
+EXTERN uint32_t crc32part(const uint8_t *src, size_t len,
+                          uint32_t crc32val);
+
+/****************************************************************************
+ * Name: crc32
+ *
+ * Description:
+ *   Return a 32-bit CRC of the contents of the 'src' buffer, length 'len'
+ *
+ ****************************************************************************/
+
+EXTERN uint32_t crc32(const uint8_t *src, size_t len);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_CRC32_H */

src/platforms/px4_app.h

@@ -66,8 +66,6 @@ private:
 // Task/process based build
 #if defined(__PX4_ROS) || defined(__PX4_NUTTX)
 
-#define PX4_MAIN main
-
 // Thread based build
 #else
 

src/platforms/px4_config.h

@@ -42,4 +42,6 @@
 
 #if defined(__PX4_NUTTX)
 #include <px4_config.h>
+#elif defined (__PX4_LINUX)
+#define CONFIG_NFILE_STREAMS 1
 #endif

src/platforms/px4_defines.h

@@ -98,12 +98,22 @@ typedef param_t px4_param_t;
 	 (c) == '\r' || (c) == '\f' || c== '\v')
 #endif
 
+#define _PX4_IOC(x,y) _IOC(x,y)
+
 /* Linux Specific defines */
 #elif defined(__PX4_LINUX)
 
 // Flag is meaningless on Linux
 #define O_BINARY 0
 
+// NuttX _IOC is equivalent to Linux _IO
+#define _PX4_IOC(x,y) _IO(x,y)
+
+/* FIXME - Used to satisfy build */
+#define UNIQUE_ID       0x1FFF7A10  //STM DocID018909 Rev 8 Sect 39.1 (Unique device ID Register)
+
+#define getreg32(a)	(*(volatile uint32_t *)(a))
+
 #endif
 
 

src/platforms/px4_nodehandle.h

@@ -42,6 +42,7 @@
 #include "px4_subscriber.h"
 #include "px4_publisher.h"
 #include "px4_middleware.h"
+#include "px4_app.h"
 
 #if defined(__PX4_ROS)
 /* includes when building for ros */
@@ -141,10 +142,11 @@ protected:
 class __EXPORT NodeHandle
 {
 public:
-	NodeHandle() :
+	NodeHandle(AppMgr &a) :
 		_subs(),
 		_pubs(),
-		_sub_min_interval(nullptr)
+		_sub_min_interval(nullptr),
+		_mgr(a)
 	{}
 
 	~NodeHandle()
@@ -262,7 +264,7 @@ public:
 	 */
 	void spin()
 	{
-		while (ok()) {
+		while (!_mgr.exitRequested()) {
 			const int timeout_ms = 100;
 
 			/* Only continue in the loop if the nodehandle has subscriptions */
@@ -287,6 +289,8 @@ protected:
 	SubscriberNode *_sub_min_interval;	/**< Points to the sub wtih the smallest interval
 							  of all Subscriptions in _subs*/
 
+	AppMgr	&_mgr;
+
 	/**
 	 * Check if this is the smallest interval so far and update _sub_min_interval
 	 */