Use OS independent API for task creation/deletion

Calls to task_delete and task_spawn_cmd are now
px4_task_delete and px4_task_spawn_cmd respectively.

The px4_tasks.h header was added to the affected files
and incusions of nuttx/config.h were removed.

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

src/examples/publisher/publisher_start_nuttx.cpp

@@ -36,6 +36,7 @@
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
+#include <px4_tasks.h>
 #include <string.h>
 #include <cstdlib>
 #include <systemlib/err.h>
@@ -68,12 +69,12 @@ int publisher_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("publisher",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 5,
-					     2000,
-					     main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+		daemon_task = px4_task_spawn_cmd("publisher",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       main,
+					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
 
 		exit(0);
 	}

src/examples/rover_steering_control/main.cpp

@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -408,7 +408,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_task_spawn_cmd().
  */
 int rover_steering_control_main(int argc, char *argv[])
 {
@@ -425,7 +425,7 @@ int rover_steering_control_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("rover_steering_control",
+		deamon_task = px4_task_spawn_cmd("rover_steering_control",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 20,
 					     2048,

src/examples/subscriber/subscriber_start_nuttx.cpp

@@ -36,6 +36,7 @@
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
+#include <px4_tasks.h>
 #include <string.h>
 #include <cstdlib>
 #include <systemlib/err.h>
@@ -68,12 +69,12 @@ int subscriber_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("subscriber",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 5,
-					     2000,
-					     main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+		daemon_task = px4_task_spawn_cmd("subscriber",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       main,
+					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
 
 		exit(0);
 	}