Multi-uORB support changes - part 1

This adds support for a dynamic build for QuRT and initial
Multi-uORB changes to enable communication between the DSP and
the application processor.

This part of the changes do not affect the POSIX build. This is
enablement for the QuRT build using Multi-uORB. The second part
of the changes will be added in a new module under src/modules.

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

src/platforms/posix/px4_layer/module.mk

@@ -42,6 +42,7 @@ SRCS		 = 	\
 			hrt_queue.c \
 			hrt_work_cancel.c \
 			work_thread.c \
+			work_lock.c \
 			work_queue.c \
 			work_cancel.c \
 			lib_crc32.c \

src/platforms/posix/px4_layer/work_lock.c

@@ -0,0 +1,19 @@
+//#pragma once
+#include <semaphore.h>
+#include <stdio.h>
+#include "work_lock.h"
+
+
+extern sem_t _work_lock[];
+
+void work_lock(int id)
+{
+  //printf("work_lock %d\n", id);
+  sem_wait(&_work_lock[id]);
+}
+
+void work_unlock(int id)
+{
+  //printf("work_unlock %d\n", id);
+  sem_post(&_work_lock[id]);
+}

src/platforms/posix/px4_layer/work_lock.h

@@ -31,23 +31,13 @@
  *
  ****************************************************************************/
 
-#include <semaphore.h>
-#include <stdio.h>
+#ifndef _work_lock_h_
+#define _work_lock_h_
 
-#pragma once
-extern sem_t _work_lock[];
 
-inline void work_lock(int id);
-inline void work_lock(int id)
-{
-	//printf("work_lock %d\n", id);
-	sem_wait(&_work_lock[id]);
-}
+//#pragma once
 
-inline void work_unlock(int id);
-inline void work_unlock(int id)
-{
-	//printf("work_unlock %d\n", id);
-	sem_post(&_work_lock[id]);
-}
+void work_lock(int id);
+void work_unlock(int id);
 
+#endif // _work_lock_h_

src/platforms/posix/tests/muorb/module.mk

@@ -0,0 +1,47 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= muorb_test
+
+INCLUDE_DIRS           += ${PX4_BASE}../muorb_krait \
+                          ${PX4_BASE}../muorb_krait/lib/include \
+                          ${PX4_BASE}../muorb_krait/Pal/lib
+
+SRCS		= muorb_test_main.cpp \
+		  muorb_test_start_posix.cpp \
+		  muorb_test_example.cpp
+

src/platforms/posix/tests/muorb/muorb_test_example.cpp

@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hello_example.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include "muorb_test_example.h"
+#include <px4_log.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <px4_defines.h>
+
+px4::AppState MuorbTestExample::appState;
+
+int MuorbTestExample::main()
+{
+	appState.setRunning(true);
+
+	int i=0;
+        orb_advert_t pub_id = orb_advertise( ORB_ID( esc_status ), & m_esc_status );
+        if( pub_id == 0 )
+        {
+            PX4_ERR( "error publishing esc_status" );
+            return -1;
+        }
+        orb_advert_t pub_id_vc = orb_advertise( ORB_ID( vehicle_command ), & m_vc );
+        if( pub_id_vc == 0 )
+        {
+            PX4_ERR( "error publishing vehicle_command" );
+            return -1;
+        }
+        if( orb_publish( ORB_ID( vehicle_command ), pub_id_vc, &m_vc ) == PX4_ERROR )
+        {
+           PX4_ERR( "[%d]Error publishing the vechile command message", i );
+           return -1;
+        }
+        int sub_vc = orb_subscribe( ORB_ID( vehicle_command ) );
+        if ( sub_vc == PX4_ERROR )
+        {
+           PX4_ERR( "Error subscribing to vehicle_command topic" );
+           return -1;
+        }
+
+	while (!appState.exitRequested() && i<100) {
+
+		PX4_DEBUG("[%d]  Doing work...", i );
+                if( orb_publish( ORB_ID( esc_status ), pub_id, &m_esc_status ) == PX4_ERROR )
+                {
+                   PX4_ERR( "[%d]Error publishing the esc status message for iter", i );
+                   break;
+                }
+                bool updated = false;
+                if( orb_check( sub_vc, &updated ) == 0 )
+                {
+                    if( updated )
+                    {
+                       PX4_DEBUG( "[%d]Vechicle Status is updated... reading new value", i );
+                       if( orb_copy( ORB_ID( vehicle_command ), sub_vc, &m_vc ) != 0 )
+                       {
+                           PX4_ERR( "[%d]Error calling orb copy for vechivle status... ", i );
+                           break;
+                       }
+                       if( orb_publish( ORB_ID( vehicle_command ), pub_id_vc, &m_vc ) == PX4_ERROR )
+                       {
+                          PX4_ERR( "[%d]Error publishing the vechile command message", i );
+                          break;
+                       }
+                    }
+                    else
+                    {
+                       PX4_DEBUG( "[%d] VC topic is not updated", i );
+                    }
+                }
+                else
+                {
+                    PX4_ERR( "[%d]Error checking the updated status for vechile command... ", i );
+                    break;
+                } 
+                
+		++i;
+	}
+
+	return 0;
+}

src/platforms/posix/tests/muorb/muorb_test_example.h

@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hello_example.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+#include "uORB/topics/esc_status.h"
+#include "uORB/topics/vehicle_command.h"
+
+class MuorbTestExample {
+public:
+	MuorbTestExample() {};
+
+	~MuorbTestExample() {};
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+private:
+   struct esc_status_s m_esc_status;
+   struct vehicle_command_s m_vc;
+   
+};

src/platforms/posix/tests/muorb/muorb_test_main.cpp

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hello_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_log.h>
+#include <px4_app.h>
+#include "muorb_test_example.h"
+#include <stdio.h>
+#include "uORB/uORBManager.hpp"
+#include "uORBKraitFastRpcChannel.hpp" 
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "muorb_test");
+
+	PX4_DEBUG("muorb_test");
+       
+        // register the fast rpc channel with UORB.
+        uORB::Manager::get_instance()->set_uorb_communicator( uORB::KraitFastRpcChannel::GetInstance() );
+       
+        // start the KaitFastRPC channel thread.
+        uORB::KraitFastRpcChannel::GetInstance()->Start(); 
+
+	MuorbTestExample hello;
+	hello.main();
+
+        uORB::KraitFastRpcChannel::GetInstance()->Stop(); 
+	PX4_DEBUG("goodbye");
+	return 0;
+}

src/platforms/posix/tests/muorb/muorb_test_start_posix.cpp

@@ -0,0 +1,101 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hello_start_linux.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "muorb_test_example.h"
+#include <px4_log.h>
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+//using namespace px4;
+
+extern "C" __EXPORT int muorb_test_main(int argc, char *argv[]);
+
+static void usage()
+{
+	PX4_DEBUG("usage: muorb_test {start|stop|status}");
+}
+int muorb_test_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage();
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (MuorbTestExample::appState.isRunning()) {
+			PX4_DEBUG("already running");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("muorb_test",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       16000,
+				       PX4_MAIN,
+				       (char* const*)argv);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		MuorbTestExample::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (MuorbTestExample::appState.isRunning()) {
+			PX4_DEBUG("is running");
+
+		} else {
+			PX4_DEBUG("not started");
+		}
+
+		return 0;
+	}
+
+	usage();
+	return 1;
+}

src/platforms/px4_log.h

@@ -52,11 +52,21 @@
 }
 #if defined(__PX4_QURT)
 #include <stdio.h>
+#include "HAP_farf.h"
 
-#define PX4_DEBUG(...)	__px4_log_omit("DEBUG", __VA_ARGS__);
-#define PX4_INFO(...) 	__px4_log("INFO",  __VA_ARGS__);
-#define PX4_WARN(...) 	__px4_log_verbose("WARN",  __VA_ARGS__);
-#define PX4_ERR(...)	__px4_log_verbose("ERROR", __VA_ARGS__);
+//#define PX4_DEBUG(...)	__px4_log_omit("DEBUG", __VA_ARGS__);
+//#define PX4_DEBUG(...)	__px4_log("DEBUG", __VA_ARGS__);
+//#define PX4_INFO(...) 	__px4_log("INFO",  __VA_ARGS__);
+//#define PX4_WARN(...) 	__px4_log_verbose("WARN",  __VA_ARGS__);
+//#define PX4_ERR(...)	__px4_log_verbose("ERROR", __VA_ARGS__);
+#define PX4_DEBUG(...)	FARF(HIGH, __VA_ARGS__);
+#define PX4_INFO(...) 	FARF(HIGH, __VA_ARGS__);
+#define PX4_WARN(...) 	FARF(HIGH, __VA_ARGS__);
+#define PX4_ERR(...)	FARF(HIGH, __VA_ARGS__);
+
+//#define PX4_INFO(...) 	__px4_log_omit("INFO",  __VA_ARGS__);
+//#define PX4_WARN(...) 	__px4_log_omit("WARN",  __VA_ARGS__);
+//#define PX4_ERR(...)	__px4_log_omit("ERROR", __VA_ARGS__);
 
 #elif defined(__PX4_LINUX)
 #include <stdio.h>

src/platforms/qurt/dspal/dspal_stub.c

@@ -0,0 +1,32 @@
+#include <stdio.h>
+#include <dlfcn.h>
+
+#define STACK_SIZE 0x8000
+static char __attribute__ ((aligned (16))) stack1[STACK_SIZE];
+
+int main(int argc, char* argv[])
+{
+	int ret = 0;
+	char *builtin[]={"libgcc.so", "libc.so", "libstdc++.so"};
+	void *handle;
+	char *error;
+	void (*entry_function)() = NULL;
+
+	printf("In DSPAL main\n");
+	dlinit(3, builtin);
+#if 0
+	handle = dlopen ("libdspal_client.so", RTLD_LAZY);
+	if (!handle) {
+		printf("Error opening libdspal_client.so\n");
+		return 1;
+	}
+	entry_function = dlsym(handle, "dspal_entry");
+	if (((error = dlerror()) != NULL) || (entry_function == NULL)) {
+		printf("Error dlsym for dspal_entry");
+		ret = 2;
+	}
+	dlclose(handle);
+#endif
+	return ret;
+}
+

src/platforms/qurt/px4_layer/commands_muorb_test.c

@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 commands_muorb_test.c
+ * Commands to run for the "qurt_muorb_test" config
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+const char *get_commands()
+{
+	static const char *commands = 
+                  "uorb start\n"
+                  "muorb_test start\n";
+
+	return commands;
+}

src/platforms/qurt/px4_layer/main.cpp

@@ -39,6 +39,7 @@
 
 #include <px4_middleware.h>
 #include <px4_tasks.h>
+#include <px4_time.h>
 #include <px4_posix.h>
 #include <vector>
 #include <string>
@@ -131,14 +132,18 @@ namespace px4 {
 extern void init_once(void);
 };
 
-int main(int argc, char **argv)
+__BEGIN_DECLS
+void dspal_entry()
 {
+	const char *argv[2] = { "dspal_client", NULL };
+	int argc = 1;
+
 	printf("In main\n");
 	map<string,px4_main_t> apps;
 	init_app_map(apps);
 	px4::init_once();
-	px4::init(argc, argv, "mainapp");
+	px4::init(argc, (char **)argv, "mainapp");
 	process_commands(apps, get_commands());
-	for (;;) {}
+	for (;;) { sleep(100000); }
 }
-
+__END_DECLS

src/platforms/qurt/px4_layer/module.mk

@@ -42,6 +42,7 @@ SRCS		 = 	\
 			px4_qurt_tasks.cpp  \
 			work_thread.c \
 			work_queue.c \
+			work_lock.c \
 			work_cancel.c \
 			lib_crc32.c \
 			drv_hrt.c \
@@ -52,12 +53,16 @@ SRCS		 = 	\
 			sq_remfirst.c \
 			sq_addafter.c \
 			dq_rem.c \
-			main.cpp
+			main.cpp \
+                        qurt_stubs.c
 ifeq ($(CONFIG),qurt_hello)
 SRCS +=			commands_hello.c
 endif
 ifeq ($(CONFIG),qurt_default)
 SRCS +=			commands_default.c
 endif
+ifeq ($(CONFIG),qurt_muorb_test)
+SRCS +=			commands_muorb_test.c
+endif
 
 MAXOPTIMIZATION	 = -Os

src/platforms/qurt/px4_layer/px4_qurt_impl.cpp

@@ -51,6 +51,7 @@
 #include <qurt.h>
 #include "systemlib/param/param.h"
 
+
 __BEGIN_DECLS
 
 // FIXME - sysconf(_SC_CLK_TCK) not supported
@@ -79,7 +80,7 @@ void qurt_log(const char *fmt, ...)
 }
 #endif
 
-extern int _posix_init(void);
+//extern int _posix_init(void);
 
 __END_DECLS
 
@@ -94,7 +95,7 @@ void init_once(void);
 void init_once(void)
 {
 	// Required for QuRT
-	_posix_init();
+	//_posix_init();
 
 	work_queues_init();
 	hrt_init();

src/platforms/qurt/px4_layer/qurt_stubs.c

@@ -0,0 +1,57 @@
+
+//extern "C" {
+
+void _Read_uleb( void )
+{
+}
+
+void _Parse_fde_instr( void )
+{
+}
+
+void _Parse_csd( void )
+{
+}
+
+void _Locksyslock( void )
+{
+}
+
+void _Unlocksyslock( void )
+{
+}
+
+void _Valbytes( void )
+{
+}
+
+void _Get_eh_data( void )
+{
+}
+
+void _Parse_lsda( void )
+{
+}
+
+void __cxa_guard_release( void )
+{
+}
+
+void _Read_enc_ptr( void )
+{
+}
+
+void _Read_sleb( void )
+{
+}
+
+void __cxa_guard_acquire( void )
+{
+}
+
+void __cxa_pure_virtual() 
+{ 
+   while (1); 
+}
+
+//}

src/platforms/qurt/px4_layer/work_lock.c

@@ -0,0 +1,19 @@
+//#pragma once
+#include <semaphore.h>
+#include <stdio.h>
+#include "work_lock.h"
+
+
+extern sem_t _work_lock[];
+
+void work_lock(int id)
+{
+  //printf("work_lock %d\n", id);
+  sem_wait(&_work_lock[id]);
+}
+
+void work_unlock(int id)
+{
+  //printf("work_unlock %d\n", id);
+  sem_post(&_work_lock[id]);
+}

src/platforms/qurt/px4_layer/work_lock.h

@@ -31,23 +31,13 @@
  *
  ****************************************************************************/
 
-#include <semaphore.h>
-#include <stdio.h>
+#ifndef _work_lock_h_
+#define _work_lock_h_
 
-#pragma once
-extern sem_t _work_lock[];
 
-inline void work_lock(int id);
-inline void work_lock(int id)
-{
-	//printf("work_lock %d\n", id);
-	sem_wait(&_work_lock[id]);
-}
+//#pragma once
 
-inline void work_unlock(int id);
-inline void work_unlock(int id)
-{
-	//printf("work_unlock %d\n", id);
-	sem_post(&_work_lock[id]);
-}
+void work_lock(int id);
+void work_unlock(int id);
 
+#endif // _work_lock_h_

src/platforms/qurt/tests/muorb/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= muorb_test
+
+SRCS		= muorb_test_main.cpp \
+		  muorb_test_start_qurt.cpp \
+		  muorb_test_example.cpp
+

src/platforms/qurt/tests/muorb/muorb_test_example.cpp

@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hello_example.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include "muorb_test_example.h"
+#include <px4_log.h>
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppState MuorbTestExample::appState;
+
+int MuorbTestExample::main()
+{
+	appState.setRunning(true);
+
+	int i=0;
+	while (!appState.exitRequested() && i<5) {
+
+		PX4_DEBUG("  Doing work...");
+		++i;
+	}
+
+	return 0;
+}

src/platforms/qurt/tests/muorb/muorb_test_example.h

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hello_example.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+
+class MuorbTestExample {
+public:
+	MuorbTestExample() {};
+
+	~MuorbTestExample() {};
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+};

src/platforms/qurt/tests/muorb/muorb_test_main.cpp

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hello_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_log.h>
+#include <px4_app.h>
+#include "muorb_test_example.h"
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "muorb_test");
+
+	PX4_DEBUG("muorb_test");
+	MuorbTestExample hello;
+	hello.main();
+
+	PX4_DEBUG("goodbye");
+	return 0;
+}

src/platforms/qurt/tests/muorb/muorb_test_start_qurt.cpp

@@ -0,0 +1,101 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 hello_start_linux.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "muorb_test_example.h"
+#include <px4_log.h>
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+//using namespace px4;
+
+extern "C" __EXPORT int muorb_test_main(int argc, char *argv[]);
+
+static void usage()
+{
+	PX4_DEBUG("usage: muorb_test {start|stop|status}");
+}
+int muorb_test_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		usage();
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (MuorbTestExample::appState.isRunning()) {
+			PX4_DEBUG("already running");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("muorb_test",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       16000,
+				       PX4_MAIN,
+				       (char* const*)argv);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		MuorbTestExample::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (MuorbTestExample::appState.isRunning()) {
+			PX4_DEBUG("is running");
+
+		} else {
+			PX4_DEBUG("not started");
+		}
+
+		return 0;
+	}
+
+	usage();
+	return 1;
+}