Changed device::px4_device_handle_t to device::file_t

This change allowed the _posix.cpp file changes to be merged
back into the original files.

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

src/drivers/blinkm/blinkm_posix.cpp

@@ -140,7 +140,7 @@ public:
 	virtual int		init();
 	virtual int		probe();
 	virtual int		setMode(int mode);
-	virtual int		ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual int		ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	static const char	*const script_names[];
 
@@ -358,7 +358,7 @@ BlinkM::probe()
 }
 
 int
-BlinkM::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+BlinkM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	int ret = ENOTTY;
 

src/drivers/device/cdev.cpp

@@ -60,13 +60,13 @@ static const unsigned pollset_increment = 0;
  * The standard NuttX operation dispatch table can't call C++ member functions
  * directly, so we have to bounce them through this dispatch table.
  */
-static int	cdev_open(struct file *filp);
-static int	cdev_close(struct file *filp);
-static ssize_t	cdev_read(struct file *filp, char *buffer, size_t buflen);
-static ssize_t	cdev_write(struct file *filp, const char *buffer, size_t buflen);
-static off_t	cdev_seek(struct file *filp, off_t offset, int whence);
-static int	cdev_ioctl(struct file *filp, int cmd, unsigned long arg);
-static int	cdev_poll(struct file *filp, struct pollfd *fds, bool setup);
+static int	cdev_open(file_t *filp);
+static int	cdev_close(file_t *filp);
+static ssize_t	cdev_read(file_t *filp, char *buffer, size_t buflen);
+static ssize_t	cdev_write(file_t *filp, const char *buffer, size_t buflen);
+static off_t	cdev_seek(file_t *filp, off_t offset, int whence);
+static int	cdev_ioctl(file_t *filp, int cmd, unsigned long arg);
+static int	cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup);
 
 /**
  * Character device indirection table.
@@ -169,7 +169,7 @@ out:
  * Default implementations of the character device interface
  */
 int
-CDev::open(struct file *filp)
+CDev::open(file_t *filp)
 {
 	int ret = OK;
 
@@ -192,13 +192,13 @@ CDev::open(struct file *filp)
 }
 
 int
-CDev::open_first(struct file *filp)
+CDev::open_first(file_t *filp)
 {
 	return OK;
 }
 
 int
-CDev::close(struct file *filp)
+CDev::close(file_t *filp)
 {
 	int ret = OK;
 
@@ -222,31 +222,31 @@ CDev::close(struct file *filp)
 }
 
 int
-CDev::close_last(struct file *filp)
+CDev::close_last(file_t *filp)
 {
 	return OK;
 }
 
 ssize_t
-CDev::read(struct file *filp, char *buffer, size_t buflen)
+CDev::read(file_t *filp, char *buffer, size_t buflen)
 {
 	return -ENOSYS;
 }
 
 ssize_t
-CDev::write(struct file *filp, const char *buffer, size_t buflen)
+CDev::write(file_t *filp, const char *buffer, size_t buflen)
 {
 	return -ENOSYS;
 }
 
 off_t
-CDev::seek(struct file *filp, off_t offset, int whence)
+CDev::seek(file_t *filp, off_t offset, int whence)
 {
 	return -ENOSYS;
 }
 
 int
-CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
+CDev::ioctl(file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
 
@@ -275,7 +275,7 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 int
-CDev::poll(struct file *filp, struct pollfd *fds, bool setup)
+CDev::poll(file_t *filp, struct pollfd *fds, bool setup)
 {
 	int ret = OK;
 
@@ -347,7 +347,7 @@ CDev::poll_notify_one(struct pollfd *fds, pollevent_t events)
 }
 
 pollevent_t
-CDev::poll_state(struct file *filp)
+CDev::poll_state(file_t *filp)
 {
 	/* by default, no poll events to report */
 	return 0;
@@ -389,7 +389,7 @@ CDev::remove_poll_waiter(struct pollfd *fds)
 }
 
 static int
-cdev_open(struct file *filp)
+cdev_open(file_t *filp)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -397,7 +397,7 @@ cdev_open(struct file *filp)
 }
 
 static int
-cdev_close(struct file *filp)
+cdev_close(file_t *filp)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -405,7 +405,7 @@ cdev_close(struct file *filp)
 }
 
 static ssize_t
-cdev_read(struct file *filp, char *buffer, size_t buflen)
+cdev_read(file_t *filp, char *buffer, size_t buflen)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -413,7 +413,7 @@ cdev_read(struct file *filp, char *buffer, size_t buflen)
 }
 
 static ssize_t
-cdev_write(struct file *filp, const char *buffer, size_t buflen)
+cdev_write(file_t *filp, const char *buffer, size_t buflen)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -421,7 +421,7 @@ cdev_write(struct file *filp, const char *buffer, size_t buflen)
 }
 
 static off_t
-cdev_seek(struct file *filp, off_t offset, int whence)
+cdev_seek(file_t *filp, off_t offset, int whence)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -429,7 +429,7 @@ cdev_seek(struct file *filp, off_t offset, int whence)
 }
 
 static int
-cdev_ioctl(struct file *filp, int cmd, unsigned long arg)
+cdev_ioctl(file_t *filp, int cmd, unsigned long arg)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 
@@ -437,7 +437,7 @@ cdev_ioctl(struct file *filp, int cmd, unsigned long arg)
 }
 
 static int
-cdev_poll(struct file *filp, struct pollfd *fds, bool setup)
+cdev_poll(file_t *filp, px4_pollfd_struct_t *fds, bool setup)
 {
 	CDev *cdev = (CDev *)(filp->f_inode->i_private);
 

src/drivers/device/device_nuttx.h

@@ -44,6 +44,7 @@
  * Includes here should only cover the needs of the framework definitions.
  */
 #include <px4_config.h>
+#include <px4_posix.h>
 
 #include <errno.h>
 #include <stdbool.h>
@@ -59,6 +60,8 @@
 namespace device __EXPORT
 {
 
+typedef struct file file_t;
+
 /**
  * Fundamental base class for all device drivers.
  *
@@ -275,7 +278,7 @@ public:
 	 * @param filp		Pointer to the NuttX file structure.
 	 * @return		OK if the open is allowed, -errno otherwise.
 	 */
-	virtual int	open(struct file *filp);
+	virtual int	open(file_t *filp);
 
 	/**
 	 * Handle a close of the device.
@@ -286,7 +289,7 @@ public:
 	 * @param filp		Pointer to the NuttX file structure.
 	 * @return		OK if the close was successful, -errno otherwise.
 	 */
-	virtual int	close(struct file *filp);
+	virtual int	close(file_t *filp);
 
 	/**
 	 * Perform a read from the device.
@@ -298,7 +301,7 @@ public:
 	 * @param buflen	The number of bytes to be read.
 	 * @return		The number of bytes read or -errno otherwise.
 	 */
-	virtual ssize_t	read(struct file *filp, char *buffer, size_t buflen);
+	virtual ssize_t	read(file_t *filp, char *buffer, size_t buflen);
 
 	/**
 	 * Perform a write to the device.
@@ -310,7 +313,7 @@ public:
 	 * @param buflen	The number of bytes to be written.
 	 * @return		The number of bytes written or -errno otherwise.
 	 */
-	virtual ssize_t	write(struct file *filp, const char *buffer, size_t buflen);
+	virtual ssize_t	write(file_t *filp, const char *buffer, size_t buflen);
 
 	/**
 	 * Perform a logical seek operation on the device.
@@ -322,7 +325,7 @@ public:
 	 * @param whence	SEEK_OFS, SEEK_CUR or SEEK_END.
 	 * @return		The previous offset, or -errno otherwise.
 	 */
-	virtual off_t	seek(struct file *filp, off_t offset, int whence);
+	virtual off_t	seek(file_t *filp, off_t offset, int whence);
 
 	/**
 	 * Perform an ioctl operation on the device.
@@ -336,7 +339,7 @@ public:
 	 * @param arg		The ioctl argument value.
 	 * @return		OK on success, or -errno otherwise.
 	 */
-	virtual int	ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual int	ioctl(file_t *filp, int cmd, unsigned long arg);
 
 	/**
 	 * Perform a poll setup/teardown operation.
@@ -349,7 +352,7 @@ public:
 	 *			it is being torn down.
 	 * @return		OK on success, or -errno otherwise.
 	 */
-	virtual int	poll(struct file *filp, struct pollfd *fds, bool setup);
+	virtual int	poll(file_t *filp, struct pollfd *fds, bool setup);
 
 	/**
 	 * Test whether the device is currently open.
@@ -380,7 +383,7 @@ protected:
 	 * @param filp		The file that's interested.
 	 * @return		The current set of poll events.
 	 */
-	virtual pollevent_t poll_state(struct file *filp);
+	virtual pollevent_t poll_state(file_t *filp);
 
 	/**
 	 * Report new poll events.
@@ -398,7 +401,7 @@ protected:
 	 * @param fds		A poll waiter to notify.
 	 * @param events	The event(s) to send to the waiter.
 	 */
-	virtual void	poll_notify_one(struct pollfd *fds, pollevent_t events);
+	virtual void	poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
 
 	/**
 	 * Notification of the first open.
@@ -411,7 +414,7 @@ protected:
 	 * @param filp		Pointer to the NuttX file structure.
 	 * @return		OK if the open should proceed, -errno otherwise.
 	 */
-	virtual int	open_first(struct file *filp);
+	virtual int	open_first(file_t *filp);
 
 	/**
 	 * Notification of the last close.
@@ -424,7 +427,7 @@ protected:
 	 * @param filp		Pointer to the NuttX file structure.
 	 * @return		OK if the open should return OK, -errno otherwise.
 	 */
-	virtual int	close_last(struct file *filp);
+	virtual int	close_last(file_t *filp);
 
         /**
 	 * Register a class device name, automatically adding device
@@ -470,7 +473,7 @@ private:
 	 *
 	 * @return		OK, or -errno on error.
 	 */
-	int		store_poll_waiter(struct pollfd *fds);
+	int		store_poll_waiter(px4_pollfd_struct_t *fds);
 
 	/**
 	 * Remove a poll waiter.

src/drivers/device/i2c_posix.cpp

@@ -221,7 +221,7 @@ I2C::transfer(struct i2c_msg *msgv, unsigned msgs)
 	return ret;
 }
 
-int I2C::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+int I2C::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	//struct i2c_rdwr_ioctl_data *packets = (i2c_rdwr_ioctl_data *)(void *)arg;
 
@@ -231,11 +231,11 @@ int I2C::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
 		return 0;
 	default:
 		/* give it to the superclass */
-		return VDev::ioctl(handlep, cmd, arg);
+		return VDev::ioctl(filp, cmd, arg);
 	}
 }
 
-ssize_t	I2C::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+ssize_t	I2C::read(file_t *filp, char *buffer, size_t buflen)
 {
 	if (simulate) {
 		// FIXME no idea what this should be
@@ -246,7 +246,7 @@ ssize_t	I2C::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
 	return ::read(_fd, buffer, buflen);
 }
 
-ssize_t	I2C::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
+ssize_t	I2C::write(file_t *filp, const char *buffer, size_t buflen)
 {
 	if (simulate) {
 		warnx ("2C SIM I2C::write");

src/drivers/device/i2c_posix.h

@@ -93,9 +93,9 @@ protected:
 
 	virtual int	init();
 
-	virtual ssize_t	read(px4_dev_handle_t *handlep, char *buffer, size_t buflen);
-	virtual ssize_t	write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
-	virtual int	ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual ssize_t	read(file_t *handlep, char *buffer, size_t buflen);
+	virtual ssize_t	write(file_t *handlep, const char *buffer, size_t buflen);
+	virtual int	ioctl(file_t *handlep, int cmd, unsigned long arg);
 
 	/**
 	 * Perform an I2C transaction to the device.

src/drivers/device/module.mk

@@ -38,14 +38,15 @@
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS =		  \
 		  device_nuttx.cpp \
-		  cdev_nuttx.cpp \
+		  cdev.cpp \
 		  i2c_nuttx.cpp \
 		  pio.cpp \
 		  spi.cpp \
 		  ringbuffer.cpp
 else
-SRCS =		  vdev.cpp \
-		  device.cpp \
+SRCS =		  \
+		  device_posix.cpp \
+		  vdev.cpp \
 		  vdev_posix.cpp \
 		  i2c_posix.cpp  \
 		  sim.cpp \

src/drivers/device/vdev.cpp

@@ -207,7 +207,7 @@ out:
  * Default implementations of the character device interface
  */
 int
-VDev::open(px4_dev_handle_t *handlep)
+VDev::open(file_t *filep)
 {
 	int ret = PX4_OK;
 
@@ -219,7 +219,7 @@ VDev::open(px4_dev_handle_t *handlep)
 	if (_open_count == 1) {
 
 		/* first-open callback may decline the open */
-		ret = open_first(handlep);
+		ret = open_first(filep);
 
 		if (ret != PX4_OK)
 			_open_count--;
@@ -231,14 +231,14 @@ VDev::open(px4_dev_handle_t *handlep)
 }
 
 int
-VDev::open_first(px4_dev_handle_t *handlep)
+VDev::open_first(file_t *filep)
 {
 	debug("VDev::open_first");
 	return PX4_OK;
 }
 
 int
-VDev::close(px4_dev_handle_t *handlep)
+VDev::close(file_t *filep)
 {
 	debug("VDev::close");
 	int ret = PX4_OK;
@@ -251,7 +251,7 @@ VDev::close(px4_dev_handle_t *handlep)
 
 		/* callback cannot decline the close */
 		if (_open_count == 0)
-			ret = close_last(handlep);
+			ret = close_last(filep);
 
 	} else {
 		ret = -EBADF;
@@ -263,34 +263,34 @@ VDev::close(px4_dev_handle_t *handlep)
 }
 
 int
-VDev::close_last(px4_dev_handle_t *handlep)
+VDev::close_last(file_t *filep)
 {
 	debug("VDev::close_last");
 	return PX4_OK;
 }
 
 ssize_t
-VDev::read(px4_dev_handle_t *handlep, char *buffer, size_t buflen)
+VDev::read(file_t *filep, char *buffer, size_t buflen)
 {
 	debug("VDev::read");
 	return -ENOSYS;
 }
 
 ssize_t
-VDev::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
+VDev::write(file_t *filep, const char *buffer, size_t buflen)
 {
 	debug("VDev::write");
 	return -ENOSYS;
 }
 
 off_t
-VDev::seek(px4_dev_handle_t *handlep, off_t offset, int whence)
+VDev::seek(file_t *filep, off_t offset, int whence)
 {
 	return -ENOSYS;
 }
 
 int
-VDev::ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg)
+VDev::ioctl(file_t *filep, int cmd, unsigned long arg)
 {
 	int ret = -ENOTTY;
 
@@ -320,7 +320,7 @@ VDev::ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg)
 }
 
 int
-VDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
+VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 {
 	int ret = PX4_OK;
 	debug("VDev::Poll %s", setup ? "setup" : "teardown");
@@ -335,8 +335,8 @@ VDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
 		 * Save the file pointer in the pollfd for the subclass'
 		 * benefit.
 		 */
-		fds->priv = (void *)handlep;
-		debug("VDev::poll: fds->priv = %p", handlep);
+		fds->priv = (void *)filep;
+		debug("VDev::poll: fds->priv = %p", filep);
 
 		/*
 		 * Handle setup requests.
@@ -349,7 +349,7 @@ VDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
 			 * Check to see whether we should send a poll notification
 			 * immediately.
 			 */
-			fds->revents |= fds->events & poll_state(handlep);
+			fds->revents |= fds->events & poll_state(filep);
 
 			/* yes? post the notification */
 			if (fds->revents != 0)
@@ -402,7 +402,7 @@ VDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 }
 
 pollevent_t
-VDev::poll_state(px4_dev_handle_t *handlep)
+VDev::poll_state(file_t *filep)
 {
 	debug("VDev::poll_notify");
 	/* by default, no poll events to report */

src/drivers/device/vdev.h

@@ -57,17 +57,14 @@
 namespace device __EXPORT
 {
 
-#define  PX4_F_RDONLY 1
-#define  PX4_F_WRONLY 2
-
-struct px4_dev_handle_t {
+struct file_t {
 	int fd;
 	int flags;
 	void *priv;
 	void *vdev;
 
-	px4_dev_handle_t() : fd(-1), flags(0), priv(NULL), vdev(NULL) {}
-	px4_dev_handle_t(int f, void *c, int d) : fd(d), flags(f), priv(NULL), vdev(c) {}
+	file_t() : fd(-1), flags(0), priv(NULL), vdev(NULL) {}
+	file_t(int f, void *c, int d) : fd(d), flags(f), priv(NULL), vdev(c) {}
 };
 
 /**
@@ -242,13 +239,13 @@ public:
 	 *
 	 * This is handled internally and should not normally be overridden.
 	 *
-	 * @param handlep	Pointer to the internal file structure.
+	 * @param filep	Pointer to the internal file structure.
 	 * @param fds		Poll descriptor being waited on.
 	 * @param setup		True if this is establishing a request, false if
 	 *			it is being torn down.
 	 * @return		OK on success, or -errno otherwise.
 	 */
-	virtual int	poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup);
+	virtual int	poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup);
 
 	/**
 	 * Test whether the device is currently open.
@@ -266,10 +263,10 @@ public:
 	 * This function is called for every open of the device. The default
 	 * implementation maintains _open_count and always returns OK.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @return		OK if the open is allowed, -errno otherwise.
 	 */
-	virtual int	open(px4_dev_handle_t *handlep);
+	virtual int	open(file_t *filep);
 
 	/**
 	 * Handle a close of the device.
@@ -277,46 +274,46 @@ public:
 	 * This function is called for every close of the device. The default
 	 * implementation maintains _open_count and returns OK as long as it is not zero.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @return		OK if the close was successful, -errno otherwise.
 	 */
-	virtual int	close(px4_dev_handle_t *handlep);
+	virtual int	close(file_t *filep);
 
 	/**
 	 * Perform a read from the device.
 	 *
 	 * The default implementation returns -ENOSYS.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @param buffer	Pointer to the buffer into which data should be placed.
 	 * @param buflen	The number of bytes to be read.
 	 * @return		The number of bytes read or -errno otherwise.
 	 */
-	virtual ssize_t	read(px4_dev_handle_t *handlep, char *buffer, size_t buflen);
+	virtual ssize_t	read(file_t *filep, char *buffer, size_t buflen);
 
 	/**
 	 * Perform a write to the device.
 	 *
 	 * The default implementation returns -ENOSYS.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @param buffer	Pointer to the buffer from which data should be read.
 	 * @param buflen	The number of bytes to be written.
 	 * @return		The number of bytes written or -errno otherwise.
 	 */
-	virtual ssize_t	write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
+	virtual ssize_t	write(file_t *filep, const char *buffer, size_t buflen);
 
 	/**
 	 * Perform a logical seek operation on the device.
 	 *
 	 * The default implementation returns -ENOSYS.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @param offset	The new file position relative to whence.
 	 * @param whence	SEEK_OFS, SEEK_CUR or SEEK_END.
 	 * @return		The previous offset, or -errno otherwise.
 	 */
-	virtual off_t	seek(px4_dev_handle_t *handlep, off_t offset, int whence);
+	virtual off_t	seek(file_t *filep, off_t offset, int whence);
 
 	/**
 	 * Perform an ioctl operation on the device.
@@ -325,12 +322,12 @@ public:
 	 * returns -ENOTTY. Subclasses should call the default implementation
 	 * for any command they do not handle themselves.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @param cmd		The ioctl command value.
 	 * @param arg		The ioctl argument value.
 	 * @return		OK on success, or -errno otherwise.
 	 */
-	virtual int	ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg);
+	virtual int	ioctl(file_t *filep, int cmd, unsigned long arg);
 
 	static VDev *getDev(const char *path);
 	static void showDevices(void);
@@ -352,10 +349,10 @@ protected:
 	 *
 	 * The default implementation returns no events.
 	 *
-	 * @param handlep		The file that's interested.
+	 * @param filep		The file that's interested.
 	 * @return		The current set of poll events.
 	 */
-	virtual pollevent_t poll_state(px4_dev_handle_t *handlep);
+	virtual pollevent_t poll_state(file_t *filep);
 
 	/**
 	 * Report new poll events.
@@ -383,10 +380,10 @@ protected:
 	 *
 	 * The default implementation returns OK.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @return		OK if the open should proceed, -errno otherwise.
 	 */
-	virtual int	open_first(px4_dev_handle_t *handlep);
+	virtual int	open_first(file_t *filep);
 
 	/**
 	 * Notification of the last close.
@@ -396,10 +393,10 @@ protected:
 	 *
 	 * The default implementation returns OK.
 	 *
-	 * @param handlep		Pointer to the NuttX file structure.
+	 * @param filep		Pointer to the NuttX file structure.
 	 * @return		OK if the open should return OK, -errno otherwise.
 	 */
-	virtual int	close_last(px4_dev_handle_t *handlep);
+	virtual int	close_last(file_t *filep);
 
         /**
 	 * Register a class device name, automatically adding device

src/drivers/device/vdev_posix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file vcdev_posix.cpp
+ * @file vdev_posix.cpp
  *
  * POSIX-like API for virtual character device
  */
@@ -47,6 +47,8 @@
 #include <pthread.h>
 #include <unistd.h>
 
+#define PX4_DEBUG(...)  
+
 using namespace device;
 
 extern "C" {
@@ -74,7 +76,7 @@ static void *timer_handler(void *data)
 }
 
 #define PX4_MAX_FD 100
-static px4_dev_handle_t *filemap[PX4_MAX_FD] = {};
+static device::file_t *filemap[PX4_MAX_FD] = {};
 
 int px4_errno;
 
@@ -95,7 +97,7 @@ int px4_open(const char *path, int flags)
 	else {
 		for (i=0; i<PX4_MAX_FD; ++i) {
 			if (filemap[i] == 0) {
-				filemap[i] = new px4_dev_handle_t(flags,dev,i);
+				filemap[i] = new device::file_t(flags,dev,i);
 				break;
 			}
 		}

src/drivers/hil/hil.cpp

@@ -49,6 +49,9 @@
  */
 
 #include <px4_config.h>
+#include <px4_tasks.h>
+#include <px4_time.h>
+#include <px4_common.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -60,11 +63,10 @@
 #include <poll.h>
 #include <errno.h>
 #include <stdio.h>
-#include <math.h>
+#include <cmath>
+#include <string.h>
 #include <unistd.h>
 
-#include <nuttx/arch.h>
-
 #include <drivers/device/device.h>
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_gpio.h>
@@ -82,21 +84,25 @@
 
 #include <systemlib/err.h>
 
+#ifdef __PX4_NUTTX
 class HIL : public device::CDev
+#else
+class HIL : public device::VDev
+#endif
 {
 public:
 	enum Mode {
 		MODE_2PWM,
 		MODE_4PWM,
-        MODE_8PWM,
-        MODE_12PWM,
-        MODE_16PWM,
+		MODE_8PWM,
+		MODE_12PWM,
+		MODE_16PWM,
 		MODE_NONE
 	};
 	HIL();
 	virtual ~HIL();
 
-	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+	virtual int     ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	virtual int	init();
 
@@ -131,7 +137,7 @@ private:
 			uint8_t control_index,
 			float &input);
 
-	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
+	int		pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 	struct GPIOConfig {
 		uint32_t	input;
@@ -146,7 +152,7 @@ private:
 	void		gpio_set_function(uint32_t gpios, int function);
 	void		gpio_write(uint32_t gpios, int function);
 	uint32_t	gpio_read(void);
-	int		gpio_ioctl(file *filp, int cmd, unsigned long arg);
+	int		gpio_ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 };
 
@@ -158,7 +164,12 @@ HIL	*g_hil;
 } // namespace
 
 HIL::HIL() :
-	CDev("hilservo", PWM_OUTPUT0_DEVICE_PATH/*"/dev/hil" XXXL*/),
+#ifdef __PX4_NUTTX
+       CDev(
+#else
+       VDev(
+#endif
+		"hilservo", PWM_OUTPUT0_DEVICE_PATH/*"/dev/hil" XXXL*/),
 	_mode(MODE_NONE),
 	_update_rate(50),
 	_current_update_rate(0),
@@ -188,7 +199,7 @@ HIL::~HIL()
 
 			/* if we have given up, kill it */
 			if (--i == 0) {
-				task_delete(_task);
+				px4_task_delete(_task);
 				break;
 			}
 
@@ -211,7 +222,11 @@ HIL::init()
 	ASSERT(_task == -1);
 
 	/* do regular cdev init */
+#ifdef __PX4_NUTTX
 	ret = CDev::init();
+#else
+	ret = VDev::init();
+#endif
 
 	if (ret != OK)
 		return ret;
@@ -228,11 +243,11 @@ HIL::init()
 	// gpio_reset();
 
 	/* start the HIL interface task */
-	_task = task_spawn_cmd("fmuhil",
+	_task = px4_task_spawn_cmd("fmuhil",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
 			   1200,
-			   (main_t)&HIL::task_main_trampoline,
+			   (px4_main_t)&HIL::task_main_trampoline,
 			   nullptr);
 
 	if (_task < 0) {
@@ -273,22 +288,22 @@ HIL::set_mode(Mode mode)
 		break;
 
     	case MODE_8PWM:
-            debug("MODE_8PWM");
-            /* multi-port as 8 PWM outs */
-            _update_rate = 50;	/* default output rate */
-            break;
+		debug("MODE_8PWM");
+		/* multi-port as 8 PWM outs */
+		_update_rate = 50;	/* default output rate */
+		break;
 
-        case MODE_12PWM:
-            debug("MODE_12PWM");
-            /* multi-port as 12 PWM outs */
-            _update_rate = 50;	/* default output rate */
-            break;
+	case MODE_12PWM:
+		debug("MODE_12PWM");
+		/* multi-port as 12 PWM outs */
+		_update_rate = 50;	/* default output rate */
+		break;
 
-        case MODE_16PWM:
-            debug("MODE_16PWM");
-            /* multi-port as 16 PWM outs */
-            _update_rate = 50;	/* default output rate */
-            break;
+	case MODE_16PWM:
+		debug("MODE_16PWM");
+		/* multi-port as 16 PWM outs */
+		_update_rate = 50;	/* default output rate */
+		break;
 
 	case MODE_NONE:
 		debug("MODE_NONE");
@@ -336,7 +351,7 @@ HIL::task_main()
 	_t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
 				   &outputs, &dummy, ORB_PRIO_LOW);
 
-	pollfd fds[2];
+	px4_pollfd_struct_t fds[2];
 	fds[0].fd = _t_actuators;
 	fds[0].events = POLLIN;
 	fds[1].fd = _t_armed;
@@ -383,7 +398,7 @@ HIL::task_main()
 		}
 
 		/* sleep waiting for data, but no more than a second */
-		int ret = ::poll(&fds[0], 2, 1000);
+		int ret = px4_poll(&fds[0], 2, 1000);
 
 		/* this would be bad... */
 		if (ret < 0) {
@@ -410,7 +425,7 @@ HIL::task_main()
 
 					/* last resort: catch NaN, INF and out-of-band errors */
 					if (i < outputs.noutputs &&
-						isfinite(outputs.output[i]) &&
+						PX4_ISFINITE(outputs.output[i]) &&
 						outputs.output[i] >= -1.0f &&
 						outputs.output[i] <= 1.0f) {
 						/* scale for PWM output 900 - 2100us */
@@ -439,8 +454,8 @@ HIL::task_main()
 		}
 	}
 
-	::close(_t_actuators);
-	::close(_t_armed);
+	px4_close(_t_actuators);
+	px4_close(_t_armed);
 
 	/* make sure servos are off */
 	// up_pwm_servo_deinit();
@@ -449,7 +464,6 @@ HIL::task_main()
 
 	/* tell the dtor that we are exiting */
 	_task = -1;
-	_exit(0);
 }
 
 int
@@ -465,7 +479,7 @@ HIL::control_callback(uintptr_t handle,
 }
 
 int
-HIL::ioctl(file *filp, int cmd, unsigned long arg)
+HIL::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	int ret;
 
@@ -480,9 +494,9 @@ HIL::ioctl(file *filp, int cmd, unsigned long arg)
 	switch(_mode) {
 	case MODE_2PWM:
 	case MODE_4PWM:
-        case MODE_8PWM:
-        case MODE_12PWM:
-        case MODE_16PWM:
+	case MODE_8PWM:
+	case MODE_12PWM:
+	case MODE_16PWM:
 		ret = HIL::pwm_ioctl(filp, cmd, arg);
 		break;
 	default:
@@ -492,14 +506,19 @@ HIL::ioctl(file *filp, int cmd, unsigned long arg)
 	}
 
 	/* if nobody wants it, let CDev have it */
-	if (ret == -ENOTTY)
+	if (ret == -ENOTTY) {
+#ifdef __PX4_NUTTX
 		ret = CDev::ioctl(filp, cmd, arg);
+#else
+		ret = VDev::ioctl(filp, cmd, arg);
+#endif
+	}
 
 	return ret;
 }
 
 int
-HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
+HIL::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	int ret = OK;
 	// int channel;
@@ -675,8 +694,8 @@ hil_new_mode(PortMode new_mode)
 	case PORT_MODE_UNDEFINED:
 	case PORT1_MODE_UNSET:
     	case PORT2_MODE_UNSET:
-            /* nothing more to do here */
-            break;
+		/* nothing more to do here */
+		break;
 
 	case PORT1_FULL_PWM:
 		/* select 4-pin PWM mode */
@@ -695,20 +714,20 @@ hil_new_mode(PortMode new_mode)
 		servo_mode = HIL::MODE_2PWM;
 		break;
 
-        case PORT2_8PWM:
-            /* select 8-pin PWM mode */
-            servo_mode = HIL::MODE_8PWM;
-            break;
+	case PORT2_8PWM:
+		/* select 8-pin PWM mode */
+		servo_mode = HIL::MODE_8PWM;
+		break;
 
-        case PORT2_12PWM:
-            /* select 12-pin PWM mode */
-            servo_mode = HIL::MODE_12PWM;
-            break;
+	case PORT2_12PWM:
+		/* select 12-pin PWM mode */
+		servo_mode = HIL::MODE_12PWM;
+		break;
 
-        case PORT2_16PWM:
-            /* select 16-pin PWM mode */
-            servo_mode = HIL::MODE_16PWM;
-            break;
+	case PORT2_16PWM:
+		/* select 16-pin PWM mode */
+		servo_mode = HIL::MODE_16PWM;
+		break;
 	}
 
 //	/* adjust GPIO config for serial mode(s) */
@@ -746,32 +765,32 @@ hil_start(void)
 	return ret;
 }
 
-void
+int
 test(void)
 {
 	int	fd;
 
-	fd = open(PWM_OUTPUT0_DEVICE_PATH, 0);
+	fd = px4_open(PWM_OUTPUT0_DEVICE_PATH, 0);
 
 	if (fd < 0) {
 		puts("open fail");
-		exit(1);
+		return -ENODEV;
 	}
 
-	ioctl(fd, PWM_SERVO_ARM, 0);
-	ioctl(fd, PWM_SERVO_SET(0), 1000);
+	px4_ioctl(fd, PWM_SERVO_ARM, 0);
+	px4_ioctl(fd, PWM_SERVO_SET(0), 1000);
 
-	close(fd);
+	px4_close(fd);
 
-	exit(0);
+	return OK;
 }
 
-void
+int
 fake(int argc, char *argv[])
 {
 	if (argc < 5) {
 		puts("hil fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
-		exit(1);
+		return -EINVAL;
 	}
 
 	actuator_controls_s ac;
@@ -788,24 +807,39 @@ fake(int argc, char *argv[])
 
 	if (handle < 0) {
 		puts("advertise failed");
-		exit(1);
+		return 1;
 	}
 
-	exit(0);
+	return 0;
 }
 
 } // namespace
 
 extern "C" __EXPORT int hil_main(int argc, char *argv[]);
 
+static void
+usage() {
+	fprintf(stderr, "HIL: unrecognized command, try:\n");
+	fprintf(stderr, "  mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
+}
+
 int
 hil_main(int argc, char *argv[])
 {
 	PortMode new_mode = PORT_MODE_UNDEFINED;
-	const char *verb = argv[1];
+	const char *verb;
+	int ret = OK;
 
-	if (hil_start() != OK)
-		errx(1, "failed to start the HIL driver");
+	if (hil_start() != OK) {
+		warnx("failed to start the HIL driver");
+		return 1;
+	}
+
+	if (argc < 2) {
+		usage();
+		return -EINVAL;
+	}
+	verb = argv[1];
 
 	/*
 	 * Mode switches.
@@ -842,14 +876,17 @@ hil_main(int argc, char *argv[])
 		return hil_new_mode(new_mode);
 	}
 
-	if (!strcmp(verb, "test"))
-		test();
+	if (!strcmp(verb, "test")) {
+		ret = test();
+	}
 
-	if (!strcmp(verb, "fake"))
-		fake(argc - 1, argv + 1);
+	else if (!strcmp(verb, "fake")) {
+		ret = fake(argc - 1, argv + 1);
+	}
 
-
-	fprintf(stderr, "HIL: unrecognized command, try:\n");
-	fprintf(stderr, "  mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
-	return -EINVAL;
+	else {
+		usage();
+		ret = -EINVAL;
+	}
+	return ret;
 }

src/drivers/hil/hil_posix.cpp

@@ -1,873 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2014 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.
- *
- ****************************************************************************/
-
-/**
- * @file hil_linux.cpp
- *
- * Driver/configurator for the virtual HIL port.
- *
- * This virtual driver emulates PWM / servo outputs for setups where
- * the connected hardware does not provide enough or no PWM outputs.
- *
- * Its only function is to take actuator_control uORB messages,
- * mix them with any loaded mixer and output the result to the
- * actuator_output uORB topic. HIL can also be performed with normal
- * PWM outputs, a special flag prevents the outputs to be operated
- * during HIL mode. If HIL is not performed with a standalone FMU,
- * but in a real system, it is NOT recommended to use this virtual
- * driver. Use instead the normal FMU or IO driver.
- */
-
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
-#include <px4_common.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdlib.h>
-#include <semaphore.h>
-#include <string.h>
-#include <fcntl.h>
-#include <poll.h>
-#include <errno.h>
-#include <stdio.h>
-#include <string.h>
-#include <cmath>
-#include <unistd.h>
-
-#include <drivers/device/device.h>
-#include <drivers/drv_pwm_output.h>
-#include <drivers/drv_gpio.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_mixer.h>
-
-#include <systemlib/systemlib.h>
-#include <systemlib/mixer/mixer.h>
-
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_0.h>
-#include <uORB/topics/actuator_controls_1.h>
-#include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/actuator_outputs.h>
-
-#include <systemlib/err.h>
-
-class HIL : public device::VDev
-{
-public:
-	enum Mode {
-		MODE_2PWM,
-		MODE_4PWM,
-        MODE_8PWM,
-        MODE_12PWM,
-        MODE_16PWM,
-		MODE_NONE
-	};
-	HIL();
-	virtual ~HIL();
-
-	virtual int	ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
-
-	virtual int	init();
-
-	int		set_mode(Mode mode);
-	int		set_pwm_rate(unsigned rate);
-
-private:
-	static const unsigned _max_actuators = 4;
-
-	Mode		_mode;
-	int 		_update_rate;
-	int 		_current_update_rate;
-	int		_task;
-	int		_t_actuators;
-	int		_t_armed;
-	orb_advert_t	_t_outputs;
-	unsigned	_num_outputs;
-	bool		_primary_pwm_device;
-
-	volatile bool	_task_should_exit;
-	bool		_armed;
-
-	MixerGroup	*_mixers;
-
-	actuator_controls_s _controls;
-
-	static void	task_main_trampoline(int argc, char *argv[]);
-	void		task_main();
-
-	static int	control_callback(uintptr_t handle,
-			uint8_t control_group,
-			uint8_t control_index,
-			float &input);
-
-	int		pwm_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
-
-	struct GPIOConfig {
-		uint32_t	input;
-		uint32_t	output;
-		uint32_t	alt;
-	};
-
-	static const GPIOConfig	_gpio_tab[];
-	static const unsigned	_ngpio;
-
-	void		gpio_reset(void);
-	void		gpio_set_function(uint32_t gpios, int function);
-	void		gpio_write(uint32_t gpios, int function);
-	uint32_t	gpio_read(void);
-	int		gpio_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
-
-};
-
-namespace
-{
-
-HIL	*g_hil;
-
-} // namespace
-
-HIL::HIL() :
-	VDev("hilservo", PWM_OUTPUT0_DEVICE_PATH/*"/dev/hil" XXXL*/),
-	_mode(MODE_NONE),
-	_update_rate(50),
-	_current_update_rate(0),
-	_task(-1),
-	_t_actuators(-1),
-	_t_armed(-1),
-	_t_outputs(0),
-	_num_outputs(0),
-	_primary_pwm_device(false),
-	_task_should_exit(false),
-	_armed(false),
-	_mixers(nullptr)
-{
-	_debug_enabled = true;
-}
-
-HIL::~HIL()
-{
-	if (_task != -1) {
-		/* tell the task we want it to go away */
-		_task_should_exit = true;
-
-		unsigned i = 10;
-		do {
-			/* wait 50ms - it should wake every 100ms or so worst-case */
-			usleep(50000);
-
-			/* if we have given up, kill it */
-			if (--i == 0) {
-				px4_task_delete(_task);
-				break;
-			}
-
-		} while (_task != -1);
-	}
-
-	// XXX already claimed with CDEV
-	// /* clean up the alternate device node */
-	// if (_primary_pwm_device)
-	// 	unregister_driver(PWM_OUTPUT_DEVICE_PATH);
-
-	g_hil = nullptr;
-}
-
-int
-HIL::init()
-{
-	int ret;
-
-	ASSERT(_task == -1);
-
-	/* do regular cdev init */
-	ret = VDev::init();
-
-	if (ret != PX4_OK)
-		return ret;
-
-	// XXX already claimed with CDEV
-	///* try to claim the generic PWM output device node as well - it's OK if we fail at this */
-	//ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
-	if (ret == PX4_OK) {
-		log("default PWM output device");
-		_primary_pwm_device = true;
-	}
-
-	/* reset GPIOs */
-	// gpio_reset();
-
-	/* start the HIL interface task */
-	_task = px4_task_spawn_cmd("fmuhil",
-			   SCHED_DEFAULT,
-			   SCHED_PRIORITY_DEFAULT,
-			   1200,
-			   (px4_main_t)&HIL::task_main_trampoline,
-			   nullptr);
-
-	if (_task < 0) {
-		debug("task start failed: %d", errno);
-		return -errno;
-	}
-
-	return PX4_OK;
-}
-
-void
-HIL::task_main_trampoline(int argc, char *argv[])
-{
-	g_hil->task_main();
-}
-
-int
-HIL::set_mode(Mode mode)
-{
-	/*
-	 * Configure for PWM output.
-	 *
-	 * Note that regardless of the configured mode, the task is always
-	 * listening and mixing; the mode just selects which of the channels
-	 * are presented on the output pins.
-	 */
-	switch (mode) {
-	case MODE_2PWM:
-		debug("MODE_2PWM");
-		/* multi-port with flow control lines as PWM */
-		_update_rate = 50;	/* default output rate */
-		break;
-
-	case MODE_4PWM:
-		debug("MODE_4PWM");
-		/* multi-port as 4 PWM outs */
-		_update_rate = 50;	/* default output rate */
-		break;
-
-    	case MODE_8PWM:
-            debug("MODE_8PWM");
-            /* multi-port as 8 PWM outs */
-            _update_rate = 50;	/* default output rate */
-            break;
-
-        case MODE_12PWM:
-            debug("MODE_12PWM");
-            /* multi-port as 12 PWM outs */
-            _update_rate = 50;	/* default output rate */
-            break;
-
-        case MODE_16PWM:
-            debug("MODE_16PWM");
-            /* multi-port as 16 PWM outs */
-            _update_rate = 50;	/* default output rate */
-            break;
-
-	case MODE_NONE:
-		debug("MODE_NONE");
-		/* disable servo outputs and set a very low update rate */
-		_update_rate = 10;
-		break;
-
-	default:
-		return -EINVAL;
-	}
-	_mode = mode;
-	return PX4_OK;
-}
-
-int
-HIL::set_pwm_rate(unsigned rate)
-{
-	if ((rate > 500) || (rate < 10))
-		return -EINVAL;
-
-	_update_rate = rate;
-	return PX4_OK;
-}
-
-void
-HIL::task_main()
-{
-	/*
-	 * Subscribe to the appropriate PWM output topic based on whether we are the
-	 * primary PWM output or not.
-	 */
-	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
-				     ORB_ID(actuator_controls_1));
-	/* force a reset of the update rate */
-	_current_update_rate = 0;
-
-	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
-	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
-
-	/* advertise the mixed control outputs */
-	actuator_outputs_s outputs;
-	memset(&outputs, 0, sizeof(outputs));
-	/* advertise the mixed control outputs */
-	int dummy;
-	_t_outputs = orb_advertise_multi(ORB_ID(actuator_outputs),
-				   &outputs, &dummy, ORB_PRIO_LOW);
-
-	px4_pollfd_struct_t fds[2];
-	fds[0].fd = _t_actuators;
-	fds[0].events = POLLIN;
-	fds[1].fd = _t_armed;
-	fds[1].events = POLLIN;
-
-	unsigned num_outputs;
-
-	/* select the number of virtual outputs */
-	switch (_mode) {
-	case MODE_2PWM:
-		num_outputs = 2;
-		break;
-
-	case MODE_4PWM:
-		num_outputs = 4;
-		break;
-
-	case MODE_8PWM:
-	case MODE_12PWM:
-	case MODE_16PWM:
-		// XXX only support the lower 8 - trivial to extend
-		num_outputs = 8;
-		break;
-
-	case MODE_NONE:
-	default:
-		num_outputs = 0;
-		break;
-	}
-
-	log("starting");
-
-	/* loop until killed */
-	while (!_task_should_exit) {
-
-		/* handle update rate changes */
-		if (_current_update_rate != _update_rate) {
-			int update_rate_in_ms = int(1000 / _update_rate);
-			if (update_rate_in_ms < 2)
-				update_rate_in_ms = 2;
-			orb_set_interval(_t_actuators, update_rate_in_ms);
-			// up_pwm_servo_set_rate(_update_rate);
-			_current_update_rate = _update_rate;
-		}
-
-		/* sleep waiting for data, but no more than a second */
-		int ret = px4_poll(&fds[0], 2, 1000);
-
-		/* this would be bad... */
-		if (ret < 0) {
-			log("poll error %d", errno);
-			continue;
-		}
-
-		/* do we have a control update? */
-		if (fds[0].revents & POLLIN) {
-
-			/* get controls - must always do this to avoid spinning */
-			orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
-				     ORB_ID(actuator_controls_1), _t_actuators, &_controls);
-
-			/* can we mix? */
-			if (_mixers != nullptr) {
-
-				/* do mixing */
-				outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs, NULL);
-				outputs.timestamp = hrt_absolute_time();
-
-				/* iterate actuators */
-				for (unsigned i = 0; i < num_outputs; i++) {
-
-					/* last resort: catch NaN, INF and out-of-band errors */
-					if (i < outputs.noutputs &&
-						PX4_ISFINITE(outputs.output[i]) &&
-						outputs.output[i] >= -1.0f &&
-						outputs.output[i] <= 1.0f) {
-						/* scale for PWM output 900 - 2100us */
-						outputs.output[i] = 1500 + (600 * outputs.output[i]);
-					} else {
-						/*
-						 * Value is NaN, INF or out of band - set to the minimum value.
-						 * This will be clearly visible on the servo status and will limit the risk of accidentally
-						 * spinning motors. It would be deadly in flight.
-						 */
-						outputs.output[i] = 900;
-					}
-				}
-
-				/* and publish for anyone that cares to see */
-				orb_publish(ORB_ID(actuator_outputs), _t_outputs, &outputs);
-			}
-		}
-
-		/* how about an arming update? */
-		if (fds[1].revents & POLLIN) {
-			actuator_armed_s aa;
-
-			/* get new value */
-			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
-		}
-	}
-
-	px4_close(_t_actuators);
-	px4_close(_t_armed);
-
-	/* make sure servos are off */
-	// up_pwm_servo_deinit();
-
-	/* note - someone else is responsible for restoring the GPIO config */
-
-	/* tell the dtor that we are exiting */
-	_task = -1;
-}
-
-int
-HIL::control_callback(uintptr_t handle,
-				      uint8_t control_group,
-				      uint8_t control_index,
-				      float &input)
-{
-	const actuator_controls_s *controls = (actuator_controls_s *)handle;
-
-	input = controls->control[control_index];
-	return 0;
-}
-
-int
-HIL::ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
-{
-	int ret;
-
-	debug("ioctl 0x%04x 0x%08x", cmd, arg);
-
-	// /* try it as a GPIO ioctl first */
-	// ret = HIL::gpio_ioctl(handlep, cmd, arg);
-	// if (ret != -ENOTTY)
-	// 	return ret;
-
-	/* if we are in valid PWM mode, try it as a PWM ioctl as well */
-	switch(_mode) {
-	case MODE_2PWM:
-	case MODE_4PWM:
-        case MODE_8PWM:
-        case MODE_12PWM:
-        case MODE_16PWM:
-		ret = HIL::pwm_ioctl(handlep, cmd, arg);
-		break;
-	default:
-		ret = -ENOTTY;
-		debug("not in a PWM mode");
-		break;
-	}
-
-	/* if nobody wants it, let VDev have it */
-	if (ret == -ENOTTY)
-		ret = VDev::ioctl(handlep, cmd, arg);
-
-	return ret;
-}
-
-int
-HIL::pwm_ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg)
-{
-	int ret = PX4_OK;
-	// int channel;
-
-	lock();
-
-	switch (cmd) {
-	case PWM_SERVO_ARM:
-		// up_pwm_servo_arm(true);
-		break;
-
-	case PWM_SERVO_DISARM:
-		// up_pwm_servo_arm(false);
-		break;
-
-	case PWM_SERVO_SET_UPDATE_RATE:
-		// HIL always outputs at the alternate (usually faster) rate
-		g_hil->set_pwm_rate(arg);
-		break;
-
-	case PWM_SERVO_SET_SELECT_UPDATE_RATE:
-		// HIL always outputs at the alternate (usually faster) rate
-		break;
-
-	case PWM_SERVO_SET(2):
-	case PWM_SERVO_SET(3):
-		if (_mode != MODE_4PWM) {
-			ret = -EINVAL;
-			break;
-		}
-
-		/* FALLTHROUGH */
-	case PWM_SERVO_SET(0):
-	case PWM_SERVO_SET(1):
-		if (arg < 2100) {
-			// channel = cmd - PWM_SERVO_SET(0);
-//			up_pwm_servo_set(channel, arg); XXX
-
-		} else {
-			ret = -EINVAL;
-		}
-
-		break;
-
-	case PWM_SERVO_GET(2):
-	case PWM_SERVO_GET(3):
-		if (_mode != MODE_4PWM) {
-			ret = -EINVAL;
-			break;
-		}
-
-		/* FALLTHROUGH */
-	case PWM_SERVO_GET(0):
-	case PWM_SERVO_GET(1): {
-			// channel = cmd - PWM_SERVO_SET(0);
-			// *(servo_position_t *)arg = up_pwm_servo_get(channel);
-			break;
-		}
-
-	case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
-		// no restrictions on output grouping
-		unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
-
-		*(uint32_t *)arg = (1 << channel);
-		break;
-	}
-
-	case MIXERIOCGETOUTPUTCOUNT:
-		if (_mode == MODE_4PWM) {
-			*(unsigned *)arg = 4;
-
-		} else {
-			*(unsigned *)arg = 2;
-		}
-
-		break;
-
-	case MIXERIOCRESET:
-		if (_mixers != nullptr) {
-			delete _mixers;
-			_mixers = nullptr;
-		}
-
-		break;
-
-	case MIXERIOCADDSIMPLE: {
-			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
-
-			SimpleMixer *mixer = new SimpleMixer(control_callback,
-							     (uintptr_t)&_controls, mixinfo);
-
-			if (mixer->check()) {
-				delete mixer;
-				ret = -EINVAL;
-
-			} else {
-				if (_mixers == nullptr)
-					_mixers = new MixerGroup(control_callback,
-								 (uintptr_t)&_controls);
-
-				_mixers->add_mixer(mixer);
-			}
-
-			break;
-		}
-
-	case MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strnlen(buf, 1024);
-
-			if (_mixers == nullptr)
-				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
-
-			if (_mixers == nullptr) {
-				ret = -ENOMEM;
-
-			} else {
-
-				ret = _mixers->load_from_buf(buf, buflen);
-
-				if (ret != 0) {
-					debug("mixer load failed with %d", ret);
-					delete _mixers;
-					_mixers = nullptr;
-					ret = -EINVAL;
-				}
-			}
-			break;
-		}
-
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	unlock();
-
-	return ret;
-}
-
-namespace
-{
-
-enum PortMode {
-	PORT_MODE_UNDEFINED = 0,
-	PORT1_MODE_UNSET,
-	PORT1_FULL_PWM,
-	PORT1_PWM_AND_SERIAL,
-	PORT1_PWM_AND_GPIO,
-	PORT2_MODE_UNSET,
-	PORT2_8PWM,
-	PORT2_12PWM,
-	PORT2_16PWM,
-};
-
-PortMode g_port_mode;
-
-int
-hil_new_mode(PortMode new_mode)
-{
-	// uint32_t gpio_bits;
-
-
-//	/* reset to all-inputs */
-//	g_hil->ioctl(0, GPIO_RESET, 0);
-
-	// gpio_bits = 0;
-
-	HIL::Mode servo_mode = HIL::MODE_NONE;
-
-	switch (new_mode) {
-	case PORT_MODE_UNDEFINED:
-	case PORT1_MODE_UNSET:
-    	case PORT2_MODE_UNSET:
-            /* nothing more to do here */
-            break;
-
-	case PORT1_FULL_PWM:
-		/* select 4-pin PWM mode */
-		servo_mode = HIL::MODE_4PWM;
-		break;
-
-	case PORT1_PWM_AND_SERIAL:
-		/* select 2-pin PWM mode */
-		servo_mode = HIL::MODE_2PWM;
-//		/* set RX/TX multi-GPIOs to serial mode */
-//		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
-		break;
-
-	case PORT1_PWM_AND_GPIO:
-		/* select 2-pin PWM mode */
-		servo_mode = HIL::MODE_2PWM;
-		break;
-
-        case PORT2_8PWM:
-            /* select 8-pin PWM mode */
-            servo_mode = HIL::MODE_8PWM;
-            break;
-
-        case PORT2_12PWM:
-            /* select 12-pin PWM mode */
-            servo_mode = HIL::MODE_12PWM;
-            break;
-
-        case PORT2_16PWM:
-            /* select 16-pin PWM mode */
-            servo_mode = HIL::MODE_16PWM;
-            break;
-	}
-
-//	/* adjust GPIO config for serial mode(s) */
-//	if (gpio_bits != 0)
-//		g_hil->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
-
-	/* (re)set the PWM output mode */
-	g_hil->set_mode(servo_mode);
-
-	return PX4_OK;
-}
-
-int
-hil_start(void)
-{
-	int ret = PX4_OK;
-
-	if (g_hil == nullptr) {
-
-		g_hil = new HIL;
-
-		if (g_hil == nullptr) {
-			ret = -ENOMEM;
-
-		} else {
-			ret = g_hil->init();
-
-			if (ret != PX4_OK) {
-				delete g_hil;
-				g_hil = nullptr;
-			}
-		}
-	}
-
-	return ret;
-}
-
-int
-test(void)
-{
-	int	fd;
-
-	fd = px4_open(PWM_OUTPUT0_DEVICE_PATH, 0);
-
-	if (fd < 0) {
-		puts("open fail");
-		return -ENODEV;
-	}
-
-	px4_ioctl(fd, PWM_SERVO_ARM, 0);
-	px4_ioctl(fd, PWM_SERVO_SET(0), 1000);
-
-	px4_close(fd);
-
-	return PX4_OK;
-}
-
-int
-fake(int argc, char *argv[])
-{
-	if (argc < 5) {
-		puts("hil fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
-		return -EINVAL;
-	}
-
-	actuator_controls_s ac;
-
-	ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
-
-	ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
-
-	ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
-
-	ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
-
-	orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
-
-	if (handle < 0) {
-		puts("advertise failed");
-		return 1;
-	}
-
-	return 0;
-}
-
-} // namespace
-
-extern "C" __EXPORT int hil_main(int argc, char *argv[]);
-
-void
-usage() {
-	fprintf(stderr, "HIL: unrecognized command, try:\n");
-	fprintf(stderr, "  mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
-}
-
-int
-hil_main(int argc, char *argv[])
-{
-	PortMode new_mode = PORT_MODE_UNDEFINED;
-	const char *verb;
-	int ret = PX4_OK;
-
-	if (hil_start() != PX4_OK) {
-		warnx("failed to start the HIL driver");
-		return 1;
-	}
-
-	if (argc < 2) {
-		usage();
-		return -EINVAL;
-	}
-	verb = argv[1];
-	/*
-	 * Mode switches.
-	 */
-
- 	// this was all cut-and-pasted from the FMU driver; it's junk
-	if (!strcmp(verb, "mode_pwm")) {
-		new_mode = PORT1_FULL_PWM;
-
-	} else if (!strcmp(verb, "mode_pwm_serial")) {
-		new_mode = PORT1_PWM_AND_SERIAL;
-
-	} else if (!strcmp(verb, "mode_pwm_gpio")) {
-		new_mode = PORT1_PWM_AND_GPIO;
-
-	} else if (!strcmp(verb, "mode_port2_pwm8")) {
-		new_mode = PORT2_8PWM;
-
-	} else if (!strcmp(verb, "mode_port2_pwm12")) {
-		new_mode = PORT2_8PWM;
-
-	} else if (!strcmp(verb, "mode_port2_pwm16")) {
-		new_mode = PORT2_8PWM;
-	}
-
-	/* was a new mode set? */
-	if (new_mode != PORT_MODE_UNDEFINED) {
-
-		/* yes but it's the same mode */
-		if (new_mode == g_port_mode)
-			return PX4_OK;
-
-		/* switch modes */
-		return hil_new_mode(new_mode);
-	}
-
-	if (!strcmp(verb, "test")) {
-		ret = test();
-	}
-
-	else if (!strcmp(verb, "fake")) {
-		ret = fake(argc - 1, argv + 1);
-	}
-
-	else {
-		usage();
-		ret = -EINVAL;
-	}
-	return ret;
-}

src/drivers/hil/module.mk

@@ -37,10 +37,6 @@
 
 MODULE_COMMAND	= hil
 
-ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		= hil.cpp
 MAXOPTIMIZATION	 = -Os
-else
-SRCS		= hil_posix.cpp
-endif
 

src/drivers/rgbled/module.mk

@@ -4,10 +4,6 @@
 
 MODULE_COMMAND	 = rgbled
 
-ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		 = rgbled.cpp
-else
-SRCS		 = rgbled_posix.cpp
-endif
 
 MAXOPTIMIZATION	 = -Os

src/drivers/rgbled/rgbled.cpp

@@ -41,6 +41,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_getopt.h>
 
 #include <drivers/device/i2c.h>
 
@@ -54,7 +55,7 @@
 #include <stdio.h>
 #include <ctype.h>
 
-#include <nuttx/wqueue.h>
+#include <px4_workqueue.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
@@ -88,7 +89,7 @@ public:
 	virtual int		init();
 	virtual int		probe();
 	virtual int		info();
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual int		ioctl(device::file_t *filp, int cmd, unsigned long arg);
 
 private:
 	work_s			_work;
@@ -129,7 +130,11 @@ void rgbled_usage();
 extern "C" __EXPORT int rgbled_main(int argc, char *argv[]);
 
 RGBLED::RGBLED(int bus, int rgbled) :
-	I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled, 100000 /* maximum speed supported */),
+	I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled
+#ifdef __PX4_NUTTX
+	,100000 /* maximum speed supported */
+#endif
+	),
 	_mode(RGBLED_MODE_OFF),
 	_r(0),
 	_g(0),
@@ -218,7 +223,7 @@ RGBLED::info()
 }
 
 int
-RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg)
+RGBLED::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	int ret = ENOTTY;
 
@@ -249,7 +254,11 @@ RGBLED::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	default:
 		/* see if the parent class can make any use of it */
+#ifdef __PX4_NUTTX
 		ret = CDev::ioctl(filp, cmd, arg);
+#else
+		ret = VDev::ioctl(filp, cmd, arg);
+#endif
 		break;
 	}
 
@@ -582,35 +591,39 @@ rgbled_main(int argc, char *argv[])
 	int ch;
 
 	/* jump over start/off/etc and look at options first */
-	while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
+	int myoptind = 1;
+	const char *myoptarg = NULL;
+	while ((ch = px4_getopt(argc, argv, "a:b:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'a':
-			rgbledadr = strtol(optarg, NULL, 0);
+			rgbledadr = strtol(myoptarg, NULL, 0);
 			break;
 
 		case 'b':
-			i2cdevice = strtol(optarg, NULL, 0);
+			i2cdevice = strtol(myoptarg, NULL, 0);
 			break;
 
 		default:
 			rgbled_usage();
-			exit(0);
+			return 1;
 		}
 	}
 
-        if (optind >= argc) {
+        if (myoptind >= argc) {
             rgbled_usage();
-            exit(1);
+            return 1;
         }
 
-	const char *verb = argv[optind];
+	const char *verb = argv[myoptind];
 
 	int fd;
 	int ret;
 
 	if (!strcmp(verb, "start")) {
-		if (g_rgbled != nullptr)
-			errx(1, "already started");
+		if (g_rgbled != nullptr) {
+			warnx("already started");
+			return 1;
+		}
 
 		if (i2cdevice == -1) {
 			// try the external bus first
@@ -625,7 +638,8 @@ rgbled_main(int argc, char *argv[])
 			if (g_rgbled == nullptr) {
 				// fall back to default bus
 				if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
-					errx(1, "init failed");
+					warnx("init failed");
+					return 1;
 				}
 				i2cdevice = PX4_I2C_BUS_LED;
 			}
@@ -634,88 +648,95 @@ rgbled_main(int argc, char *argv[])
 		if (g_rgbled == nullptr) {
 			g_rgbled = new RGBLED(i2cdevice, rgbledadr);
 
-			if (g_rgbled == nullptr)
-				errx(1, "new failed");
+			if (g_rgbled == nullptr) {
+				warnx("new failed");
+				return 1;
+			}
 
 			if (OK != g_rgbled->init()) {
 				delete g_rgbled;
 				g_rgbled = nullptr;
-				errx(1, "init failed");
+				warnx("init failed");
+				return 1;
 			}
 		}
 
-		exit(0);
+		return 0;
 	}
 
 	/* need the driver past this point */
 	if (g_rgbled == nullptr) {
 		warnx("not started");
 		rgbled_usage();
-		exit(1);
+		return 1;
 	}
 
 	if (!strcmp(verb, "test")) {
-		fd = open(RGBLED0_DEVICE_PATH, 0);
+		fd = px4_open(RGBLED0_DEVICE_PATH, 0);
 
 		if (fd == -1) {
-			errx(1, "Unable to open " RGBLED0_DEVICE_PATH);
+			warnx("Unable to open " RGBLED0_DEVICE_PATH);
+			return 1;
 		}
 
 		rgbled_pattern_t pattern = { {RGBLED_COLOR_RED, RGBLED_COLOR_GREEN, RGBLED_COLOR_BLUE, RGBLED_COLOR_WHITE, RGBLED_COLOR_OFF, RGBLED_COLOR_OFF},
 			{500, 500, 500, 500, 1000, 0 }	// "0" indicates end of pattern
 		};
 
-		ret = ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern);
-		ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_PATTERN);
+		ret = px4_ioctl(fd, RGBLED_SET_PATTERN, (unsigned long)&pattern);
+		ret = px4_ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_PATTERN);
 
-		close(fd);
-		exit(ret);
+		px4_close(fd);
+		return ret;
 	}
 
 	if (!strcmp(verb, "info")) {
 		g_rgbled->info();
-		exit(0);
+		return 0;
 	}
 
 	if (!strcmp(verb, "off") || !strcmp(verb, "stop")) {
-		fd = open(RGBLED0_DEVICE_PATH, 0);
+		fd = px4_open(RGBLED0_DEVICE_PATH, 0);
 
 		if (fd == -1) {
-			errx(1, "Unable to open " RGBLED0_DEVICE_PATH);
+			warnx("Unable to open " RGBLED0_DEVICE_PATH);
+			return 1;
 		}
 
-		ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
-		close(fd);
+		ret = px4_ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_OFF);
+		px4_close(fd);
 		/* delete the rgbled object if stop was requested, in addition to turning off the LED. */
 		if (!strcmp(verb, "stop")) {
 			delete g_rgbled;
 			g_rgbled = nullptr;
-			exit(0);
+			return 0;
 		}
-		exit(ret);
+		return ret;
 	}
 
 	if (!strcmp(verb, "rgb")) {
 		if (argc < 5) {
-			errx(1, "Usage: rgbled rgb <red> <green> <blue>");
+			warnx("Usage: rgbled rgb <red> <green> <blue>");
+			return 1;
 		}
 
-		fd = open(RGBLED0_DEVICE_PATH, 0);
+		fd = px4_open(RGBLED0_DEVICE_PATH, 0);
 
 		if (fd == -1) {
-			errx(1, "Unable to open " RGBLED0_DEVICE_PATH);
+			warnx("Unable to open " RGBLED0_DEVICE_PATH);
+			return 1;
 		}
 
 		rgbled_rgbset_t v;
 		v.red   = strtol(argv[2], NULL, 0);
 		v.green = strtol(argv[3], NULL, 0);
 		v.blue  = strtol(argv[4], NULL, 0);
-		ret = ioctl(fd, RGBLED_SET_RGB, (unsigned long)&v);
-		ret = ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
-		close(fd);
-		exit(ret);
+		ret = px4_ioctl(fd, RGBLED_SET_RGB, (unsigned long)&v);
+		ret = px4_ioctl(fd, RGBLED_SET_MODE, (unsigned long)RGBLED_MODE_ON);
+		px4_close(fd);
+		return ret;
 	}
 
 	rgbled_usage();
-	exit(0);
+	return 1;
 }