Clean up of app.h

app.h, generated from app.h_in, has unnecessary code duplication
and isn't a header file (it defines globals, static functions
and doesn't have a header guard, moreover, it has a 'using namespace
std;'). Because of this, a real headerfile that declares the stuff
defined in apps.h was missing leading to even more code duplication:
scattered forward declarations in .cpp files and an often repeated
type of std::map<std::string, px4_main_t>.

This patch moves cmake/qurt/apps.h_in to src/platforms/apps.cpp.in
(with some changes) and removes cmake/posix/apps.h_in.
Then src/platforms/apps.cpp.in is split into src/platforms/apps.cpp.in
and src/platforms/apps.h.in, splitting declarations from definitions.

A typedef is defined for the map (apps_map_type).

The main difference between cmake/posix/apps.h_in and
cmake/qurt/apps.h_in was that the first defined a global 'apps',
while qurt stores the apps in QShell. I opted to get rid of
the global variable (which are in general evil for various reasons)
and used the API of cmake/qurt/apps.h_in where a provided 'apps'
map is initialized with a call to init_app_map. Thus removing
the existing code duplication.

src/platforms/apps.cpp.in

@@ -0,0 +1,74 @@
+/* definitions of builtin command list - automatically generated, do not edit */
+#include "px4_posix.h"
+#include "px4_log.h"
+
+#include "apps.h"
+
+#include <iostream>
+#include <map>
+#include <string>
+
+#include <cstdlib>
+
+extern void px4_show_devices(void);
+
+void init_app_map(apps_map_type &apps)
+{
+${builtin_apps_string}
+	apps["shutdown"] = shutdown_main;
+	apps["list_tasks"] = list_tasks_main;
+	apps["list_files"] = list_files_main;
+	apps["list_devices"] = list_devices_main;
+	apps["list_topics"] = list_topics_main;
+	apps["sleep"] = sleep_main;
+}
+
+void list_builtins(apps_map_type &apps)
+{
+	PX4_INFO("Builtin Commands:\n");
+	for (apps_map_type::iterator it = apps.begin(); it != apps.end(); ++it)
+		PX4_INFO("%s : 0x%x\n", it->first.c_str(), it->second);
+}
+
+int shutdown_main(int argc, char *argv[])
+{
+	std::cout << "Shutting down" << std::endl;
+	exit(0);
+}
+
+int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+int list_devices_main(int argc, char *argv[])
+{
+	px4_show_devices();
+	return 0;
+}
+
+int list_topics_main(int argc, char *argv[])
+{
+	px4_show_topics();
+	return 0;
+}
+
+int list_files_main(int argc, char *argv[])
+{
+	px4_show_files();
+	return 0;
+}
+
+int sleep_main(int argc, char *argv[])
+{
+        if (argc != 2) {
+           PX4_WARN( "Usage: sleep <seconds>" );
+           return 1;
+        }
+
+        unsigned long usecs = 1000000UL * atol(argv[1]);
+        std::cout << "Sleeping for " << argv[1] << " s; (" << usecs << " us)." << std::endl;
+        usleep(usecs);
+        return 0;
+}

src/platforms/apps.h.in

@@ -0,0 +1,27 @@
+/* declarations of builtin command list - automatically generated, do not edit */
+
+#pragma once
+
+#include "px4_tasks.h"	// px4_main_t
+#include <map>
+
+extern "C" {
+
+${builtin_apps_decl_string}
+int shutdown_main(int argc, char *argv[]);
+int list_tasks_main(int argc, char *argv[]);
+int list_files_main(int argc, char *argv[]);
+int list_devices_main(int argc, char *argv[]);
+int list_topics_main(int argc, char *argv[]);
+int sleep_main(int argc, char *argv[]);
+
+}
+
+// Maps an app name to it's function.
+typedef std::map<std::string, px4_main_t> apps_map_type;
+
+// Initialize an apps map.
+void init_app_map(apps_map_type &apps);
+
+// List an apps map.
+void list_builtins(apps_map_type &apps);

src/platforms/posix/main.cpp

@@ -48,6 +48,8 @@
 #include <stdio.h>
 #include "apps.h"
 #include "px4_middleware.h"
+#include "px4_posix.h"
+#include "px4_log.h"
 #include "DriverFramework.hpp"
 #include <termios.h>
 #include <sys/stat.h>
@@ -191,6 +193,14 @@ static void print_prompt()
 
 static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silently_fail = false)
 {
+	static apps_map_type apps;
+	static bool initialized = false;
+
+	if (!initialized) {
+		init_app_map(apps);
+		initialized = true;
+	}
+
 	// command is appargs[0]
 	string command = appargs[0];
 
@@ -217,7 +227,7 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silen
 		}
 
 	} else if (command.compare("help") == 0) {
-		list_builtins();
+		list_builtins(apps);
 
 	} else if (command.length() == 0 || command[0] == '#') {
 		// Do nothing

src/platforms/qurt/px4_layer/main.cpp

@@ -55,8 +55,6 @@
 
 using namespace std;
 
-extern void init_app_map(map<string, px4_main_t> &apps);
-extern void list_builtins(map<string, px4_main_t> &apps);
 static px4_task_t g_dspal_task = -1;
 
 __BEGIN_DECLS
@@ -70,13 +68,13 @@ void qurt_external_hook(void)
 {
 }
 
-static void run_cmd(map<string, px4_main_t> &apps, const vector<string> &appargs)
+static void run_cmd(apps_map_type &apps, const vector<string> &appargs)
 {
 	// command is appargs[0]
 	string command = appargs[0];
 
 	//replaces app.find with iterator code to avoid null pointer exception
-	for (map<string, px4_main_t>::iterator it = apps.begin(); it != apps.end(); ++it)
+	for (apps_map_type::iterator it = apps.begin(); it != apps.end(); ++it)
 		if (it->first == command) {
 			// one for command name, one for null terminator
 			const char *arg[MAX_ARGS + 2];
@@ -117,7 +115,7 @@ void eat_whitespace(const char *&b, int &i)
 	i = 0;
 }
 
-static void process_commands(map<string, px4_main_t> &apps, const char *cmds)
+static void process_commands(apps_map_type &apps, const char *cmds)
 {
 	vector<string> appargs;
 	int i = 0;
@@ -220,7 +218,7 @@ const char *get_commands()
 int dspal_entry(int argc, char *argv[])
 {
 	PX4_INFO("In dspal_entry");
-	map<string, px4_main_t> apps;
+	apps_map_type apps;
 	init_app_map(apps);
 	DriverFramework::Framework::initialize();
 	px4::init_once();