DriverFramework purge

The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.

 - DriverFramework (src/lib/DriverFramework submodule) completely removed
 - added dspal submodule in qurt platform (was brought in via DriverFramework)
 - all df wrapper drivers removed
 - all boards using df wrapper drivers updated to use in tree equivalents
 - unused empty arch/board.h on posix and qurt removed
 - unused IOCTLs removed (pub block, priv, etc)
 - Integrator delete methods only used from df wrapper drivers
 - commander: sensor calibration use "NuttX version" everywhere for now
 - sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
 - cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
 - load_mon and top remove from linux boards (unused)
 - delete unused PX4_MAIN_FUNCTION
 - delete unused getreg32 macro
 - delete unused SIOCDEVPRIVATE define
 - named each platform tasks consistently
 - posix list_devices and list_topics removed (list_files now shows all virtual files)

platforms/posix/CMakeLists.txt

@@ -42,7 +42,6 @@ if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlfl
 				px4_layer
 				parameters
 				${module_libraries}
-				${df_driver_libs}
 				${FASTRPC_ARM_LIBS}
 				pthread m rt
 			-Wl,--end-group
@@ -57,8 +56,6 @@ else()
 	target_link_libraries(px4
 		PRIVATE
 			${module_libraries}
-			${df_driver_libs}
-			df_driver_framework
 			pthread m
 
 			# horrible circular dependencies that need to be teased apart
@@ -109,8 +106,6 @@ endif()
 
 if("${PX4_BOARD}" MATCHES "beaglebone_blue")
 	target_link_libraries(px4 PRIVATE robotics_cape)
-	add_dependencies(df_driver_framework librobotcontrol)
-	add_dependencies(df_mpu9250 librobotcontrol)
 
 elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
 	target_link_libraries(px4 PRIVATE atomic)

platforms/posix/cmake/px4_impl_os.cmake

@@ -223,10 +223,7 @@ function(px4_os_add_flags)
 	if ("${PX4_BOARD}" MATCHES "sitl")
 
 		if(UNIX AND APPLE)
-			add_definitions(
-				-D__PX4_DARWIN
-				-D__DF_DARWIN
-				)
+			add_definitions(-D__PX4_DARWIN)
 
 			if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
 				message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
@@ -251,46 +248,21 @@ function(px4_os_add_flags)
 				-U__CUSTOM_FILE_IO__
 				)
 		else()
-			add_definitions(
-				-D__PX4_LINUX
-				-D__DF_LINUX
-				)
+			add_definitions(-D__PX4_LINUX)
 		endif()
 
 	elseif (("${PX4_BOARD}" MATCHES "navio2") OR ("${PX4_BOARD}" MATCHES "raspberrypi"))
-
 		#TODO: move to board support
-
-		add_definitions(
-			-D__PX4_LINUX
-
-			# For DriverFramework
-			-D__DF_LINUX
-			-D__DF_RPI
-		)
+		add_definitions(-D__PX4_LINUX)
 
 	elseif ("${PX4_BOARD}" MATCHES "aerotenna_ocpoc")
-
 		#TODO: move to board support
-
-		add_definitions(
-			-D__PX4_LINUX
-			-D__PX4_POSIX_OCPOC # TODO: remove
-
-			# For DriverFramework
-			-D__DF_LINUX
-			-D__DF_OCPOC
-		)
+		add_definitions(-D__PX4_LINUX)
 
 	elseif ("${PX4_BOARD}" MATCHES "beaglebone_blue")
 		#TODO: move to board support
 		add_definitions(
 			-D__PX4_LINUX
-			-D__PX4_POSIX_BBBLUE # TODO: remove
-
-			# For DriverFramework
-			-D__DF_LINUX
-			-D__DF_BBBLUE
 
 			-DRC_AUTOPILOT_EXT  # Enable extensions in Robotics Cape Library, TODO: remove
 		)

platforms/posix/src/px4/common/CMakeLists.txt

@@ -50,7 +50,7 @@ endif()
 
 add_library(px4_layer
 	px4_posix_impl.cpp
-	px4_posix_tasks.cpp
+	tasks.cpp
 	px4_sem.cpp
 	px4_init.cpp
 	lib_crc32.c

platforms/posix/src/px4/common/main.cpp

@@ -71,7 +71,6 @@
 #include <px4_platform_common/posix.h>
 
 #include "apps.h"
-#include "DriverFramework.hpp"
 #include "px4_daemon/client.h"
 #include "px4_daemon/server.h"
 #include "px4_daemon/pxh.h"
@@ -281,8 +280,6 @@ int main(int argc, char **argv)
 			return ret;
 		}
 
-		DriverFramework::Framework::initialize();
-
 		px4::init_once();
 		px4::init(argc, argv, "px4");
 

platforms/posix/src/px4/common/px4_posix_impl.cpp

@@ -68,7 +68,6 @@ void init_once();
 void init_once()
 {
 	_shell_task_id = pthread_self();
-	//printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);
 
 	work_queues_init();
 	hrt_work_queue_init();

platforms/posix/src/px4/common/test_stubs/CMakeLists.txt

@@ -33,7 +33,6 @@
 
 set(SRCS
     stub_daemon.cpp
-    stub_devmgr.cpp
     stub_parameter.cpp
    )
 

platforms/posix/src/px4/common/test_stubs/stub_devmgr.cpp

@@ -1,10 +0,0 @@
-#include "stub_devmgr.h"
-
-
-namespace DriverFramework
-{
-int DevMgr::getNextDeviceName(unsigned int &index, const char **instancename)
-{
-	return stub_getNextDeviceName_callback(index, instancename);
-}
-}

platforms/posix/src/px4/common/test_stubs/stub_devmgr.h

@@ -1,8 +0,0 @@
-#pragma once
-
-#include "DevMgr.hpp"
-
-#include <functional>
-
-std::function<int(unsigned int &, const char **)> stub_getNextDeviceName_callback = [](unsigned int &,
-const char **) {return 0;};