Device:: Move to POSIX semaphore abstraction

src/drivers/device/cdev.cpp

@@ -306,7 +306,7 @@ CDev::poll(file_t *filp, struct pollfd *fds, bool setup)
 
 			/* yes? post the notification */
 			if (fds->revents != 0)
-				sem_post(fds->sem);
+				px4_sem_post(fds->sem);
 		}
 
 	} else {
@@ -343,7 +343,7 @@ CDev::poll_notify_one(struct pollfd *fds, pollevent_t events)
 	/* if the state is now interesting, wake the waiter if it's still asleep */
 	/* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */
 	if ((fds->revents != 0) && (fds->sem->semcount <= 0))
-		sem_post(fds->sem);
+		px4_sem_post(fds->sem);
 }
 
 pollevent_t

src/drivers/device/device_posix.cpp

@@ -55,24 +55,11 @@ Device::Device(const char *name) :
 	_name(name),
 	_debug_enabled(false)
 {
-	#ifndef __PX4_DARWIN
+	int ret = px4_sem_init(&_lock, 0, 1);
-		_lock = new sem_t;
-		int ret = sem_init(_lock, 0, 1);
 
-		if (ret != 0) {
+	if (ret != 0) {
-			PX4_WARN("SEM INIT FAIL: ret %d, %s", ret, strerror(errno));
+		PX4_WARN("SEM INIT FAIL: ret %d, %s", ret, strerror(errno));
-		}
+	}
-	#else
-		_lock_name = new char[strlen(_name) + 2];
-		_lock_name[0] = '/';
-		strcpy(&_lock_name[1], _name);
-		/* not using O_EXCL as the device handles are unique */
-		_lock = sem_open(_lock_name, O_CREAT, 0777, 1);
-
-		if (_lock == SEM_FAILED) {
-			PX4_WARN("SEM INIT FAIL: %s", strerror(errno));
-		}
-	#endif
         
 	/* setup a default device ID. When bus_type is UNKNOWN the
 	   other fields are invalid */
@@ -85,11 +72,7 @@ Device::Device(const char *name) :
 
 Device::~Device()
 {
-	#ifdef __PX4_DARWIN
+	px4_sem_destroy(&_lock);
-	sem_unlink(_name);
-	#else
-	sem_destroy(_lock);
-	#endif
 }
 
 int

src/drivers/device/vdev.cpp

@@ -366,7 +366,7 @@ VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 
 			/* yes? post the notification */
 			if (fds->revents != 0)
-				sem_post(fds->sem);
+				px4_sem_post(fds->sem);
 		} else {
 			PX4_WARN("Store Poll Waiter error.");
 		}
@@ -403,7 +403,7 @@ VDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 {
 	PX4_DEBUG("VDev::poll_notify_one");
 	int value;
-	sem_getvalue(fds->sem, &value);
+	px4_sem_getvalue(fds->sem, &value);
 
 	/* update the reported event set */
 	fds->revents |= fds->events & events;
@@ -412,8 +412,9 @@ VDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 
 	/* if the state is now interesting, wake the waiter if it's still asleep */
 	/* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */
-	if ((fds->revents != 0) && (value <= 0))
+	if ((fds->revents != 0) && (value <= 0)) {
-		sem_post(fds->sem);
+		px4_sem_post(fds->sem);
+	}
 }
 
 pollevent_t

src/drivers/device/vdev.h

@@ -181,7 +181,7 @@ protected:
 	 */
 	void		lock() {
 		DEVICE_DEBUG("lock");
-		do {} while (sem_wait(_lock) != 0);
+		do {} while (px4_sem_wait(&_lock) != 0);
 	}
 
 	/**
@@ -189,11 +189,11 @@ protected:
 	 */
 	void		unlock() {
 		DEVICE_DEBUG("unlock");
-		sem_post(_lock);
+		px4_sem_post(&_lock);
 	}
 
 private:
-	sem_t		* _lock;
+	px4_sem_t		_lock;
 
 	/** disable copy construction for this and all subclasses */
 	Device(const Device &);

src/drivers/device/vdev_posix.cpp

@@ -56,8 +56,8 @@ extern "C" {
 
 static void timer_cb(void *data)
 {
-	sem_t *p_sem = (sem_t *)data;
+	px4_sem_t *p_sem = (px4_sem_t *)data;
-	sem_post(p_sem);
+	px4_sem_post(p_sem);
 	PX4_DEBUG("timer_handler: Timer expired");
 }
 
@@ -193,13 +193,13 @@ int px4_ioctl(int fd, int cmd, unsigned long arg)
 
 int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
 {
-	sem_t sem;
+	px4_sem_t sem;
 	int count = 0;
 	int ret;
 	unsigned int i;
 
 	PX4_DEBUG("Called px4_poll timeout = %d", timeout);
-	sem_init(&sem, 0, 0);
+	px4_sem_init(&sem, 0, 0);
 
 	// For each fd 
 	for (i=0; i<nfds; ++i)
@@ -228,7 +228,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
 			work_s _hpwork;
 
 			hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)&sem, 1000*timeout);
-			sem_wait(&sem);
+			px4_sem_wait(&sem);
 
 			// Make sure timer thread is killed before sem goes
 			// out of scope
@@ -236,7 +236,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
         	}
 		else
 		{
-			sem_wait(&sem);
+			px4_sem_wait(&sem);
 		}
 
 		// For each fd 
@@ -258,7 +258,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
 		}
 	}
 
-	sem_destroy(&sem);
+	px4_sem_destroy(&sem);
 
 	return count;
 }