Replacing usleep with px4_usleep

This is a step towards isolating time from the system.

src/platforms/apps.cpp.in

@@ -1,4 +1,5 @@
 /* definitions of builtin command list - automatically generated, do not edit */
+#include "px4_time.h"
 #include "px4_posix.h"
 #include "px4_log.h"
 
@@ -86,7 +87,7 @@ int sleep_main(int argc, char *argv[])
 
         unsigned long usecs = 1000000UL * atol(argv[1]);
         printf("Sleeping for %s s; (%lu us).\n", argv[1], usecs);
-        usleep(usecs);
+        px4_usleep(usecs);
         return 0;
 }
 

src/platforms/common/work_queue/hrt_thread.c

@@ -217,7 +217,7 @@ static void hrt_work_process()
 
 	/* might sleep less if a signal received and new item was queued */
 	//PX4_INFO("Sleeping for %u usec", next);
-	usleep(next);
+	px4_usleep(next);
 }
 
 /****************************************************************************

src/platforms/common/work_queue/work_thread.c

@@ -182,7 +182,7 @@ static void work_process(struct wqueue_s *wqueue, int lock_id)
 	 */
 	work_unlock(lock_id);
 
-	usleep(next);
+	px4_usleep(next);
 }
 
 /****************************************************************************

src/platforms/px4_module.h

@@ -41,6 +41,7 @@
 #include <unistd.h>
 #include <stdbool.h>
 
+#include <px4_time.h>
 #include <px4_log.h>
 #include <px4_tasks.h>
 #include <systemlib/px4_macros.h>
@@ -236,7 +237,7 @@ public:
 
 				do {
 					unlock_module();
-					usleep(20000); // 20 ms
+					px4_usleep(20000); // 20 ms
 					lock_module();
 
 					if (++i > 100 && _task_id != -1) { // wait at most 2 sec
@@ -369,7 +370,7 @@ protected:
 
 		do {
 			/* Wait up to 1s. */
-			usleep(2500);
+			px4_usleep(2500);
 
 		} while (!_object && ++i < 400);
 

src/platforms/px4_nodehandle.h

@@ -39,6 +39,7 @@
 #pragma once
 
 /* includes for all platforms */
+#include "px4_time.h"
 #include "px4_subscriber.h"
 #include "px4_publisher.h"
 #include "px4_middleware.h"
@@ -274,7 +275,7 @@ public:
 
 			/* Only continue in the loop if the nodehandle has subscriptions */
 			if (_sub_min_interval == nullptr) {
-				usleep(timeout_ms * 1000);
+				px4_usleep(timeout_ms * 1000);
 				continue;
 			}
 

src/platforms/px4_time.h

@@ -34,4 +34,6 @@ __END_DECLS
 #define px4_clock_gettime clock_gettime
 #define px4_clock_settime clock_settime
 
+#define px4_usleep system_usleep
+
 #endif