Platform cleanup - remove duplicate files

The POSIX and QURT platforms contain several duplicate files.
These files have been factored out into platforms/posix/work_queue.
The config files have been updated to include the
platforms/posix/work_queue module.

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

src/platforms/posix/px4_layer/module.mk

@@ -32,27 +32,13 @@
 ############################################################################
 
 #
-# NuttX / uORB adapter library
+# POSIX platform dependent files
 #
 
 SRCS		 = 	\
 			px4_posix_impl.cpp \
 			px4_posix_tasks.cpp  \
-			hrt_thread.c \
-			hrt_queue.c \
-			hrt_work_cancel.c \
-			work_thread.c \
-			work_lock.c \
-			work_queue.c \
-			work_cancel.c \
 			lib_crc32.c \
 			drv_hrt.c \
-			queue.c \
-			dq_addlast.c \
-			dq_remfirst.c \
-			sq_addlast.c \
-			sq_remfirst.c \
-			sq_addafter.c \
-			dq_rem.c 
 
 MAXOPTIMIZATION	 = -Os

src/platforms/posix/px4_layer/work_lock.c

@@ -1,19 +0,0 @@
-//#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/work_queue/hrt_queue.c

@@ -121,7 +121,11 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t del
   //PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime);
 
   dq_addlast((dq_entry_t *)work, &wqueue->q);
+#ifdef __PX4_QURT
+  px4_task_kill(wqueue->pid, SIGALRM);      /* Wake up the worker thread */
+#else
   px4_task_kill(wqueue->pid, SIGCONT);      /* Wake up the worker thread */
+#endif
 
   hrt_work_unlock();
   return PX4_OK;

src/platforms/posix/work_queue/module.mk

@@ -0,0 +1,54 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# POSIX compatible queue and work_queue implementation
+#
+
+SRCS		 = 	\
+			hrt_thread.c \
+			hrt_queue.c \
+			hrt_work_cancel.c \
+			work_thread.c \
+			work_lock.c \
+			work_queue.c \
+			work_cancel.c \
+			queue.c \
+			dq_addlast.c \
+			dq_remfirst.c \
+			sq_addlast.c \
+			sq_remfirst.c \
+			sq_addafter.c \
+			dq_rem.c 
+
+MAXOPTIMIZATION	 = -Os

src/platforms/posix/work_queue/work_lock.c

@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+#include <px4_log.h>
+#include <semaphore.h>
+#include <stdio.h>
+#include "work_lock.h"
+
+
+extern sem_t _work_lock[];
+
+void work_lock(int id)
+{
+  //PX4_INFO("work_lock %d", id);
+  sem_wait(&_work_lock[id]);
+}
+
+void work_unlock(int id)
+{
+  //PX4_INFO("work_unlock %d", id);
+  sem_post(&_work_lock[id]);
+}

src/platforms/posix/work_queue/work_queue.c

@@ -124,7 +124,11 @@ int work_queue(int qid, struct work_s *work, worker_t worker, void *arg, uint32_
   work->qtime  = clock_systimer(); /* Time work queued */
 
   dq_addlast((dq_entry_t *)work, &wqueue->q);
+#ifdef __PX4_QURT
+  px4_task_kill(wqueue->pid, SIGALRM);      /* Wake up the worker thread */
+#else
   px4_task_kill(wqueue->pid, SIGCONT);      /* Wake up the worker thread */
+#endif
 
   work_unlock(qid);
   return PX4_OK;

src/platforms/posix/work_queue/work_thread.c

@@ -39,6 +39,7 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_time.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <unistd.h>
@@ -114,7 +115,7 @@ static void work_process(FAR struct wqueue_s *wqueue, int lock_id)
        */
 
       elapsed = USEC2TICK(clock_systimer() - work->qtime);
-      //PX4_INFO("work_process: queue=%p in ticks elapsed=%lu delay=%u time=%u", wqueue, elapsed, work->delay,clock_systimer());
+      //printf("work_process: in ticks elapsed=%lu delay=%u\n", elapsed, work->delay);
       if (elapsed >= work->delay)
         {
           /* Remove the ready-to-execute work from the list */
@@ -138,11 +139,10 @@ static void work_process(FAR struct wqueue_s *wqueue, int lock_id)
 
           work_unlock(lock_id);
 	  if (!worker) {
-             PX4_ERR("MESSED UP: worker = 0");
+             PX4_WARN("MESSED UP: worker = 0\n");
           }
-          else {
+          else
             worker(arg);
-          }
 
           /* Now, unfortunately, since we re-enabled interrupts we don't
            * know the state of the work list and we will have to start