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)

src/modules/simulator/simulator.cpp

@@ -64,6 +64,21 @@ void Simulator::parameters_update(bool force)
 	}
 }
 
+void Simulator::print_status()
+{
+	PX4_INFO("accelerometer");
+	_px4_accel.print_status();
+
+	PX4_INFO("gyroscope");
+	_px4_gyro.print_status();
+
+	PX4_INFO("magnetometer");
+	_px4_mag.print_status();
+
+	PX4_INFO("barometer");
+	_px4_baro.print_status();
+}
+
 int Simulator::start(int argc, char *argv[])
 {
 	_instance = new Simulator();
@@ -79,9 +94,8 @@ int Simulator::start(int argc, char *argv[])
 			_instance->set_port(atoi(argv[3]));
 		}
 
-#ifndef __PX4_QURT
 		_instance->run();
-#endif
+
 		return 0;
 
 	} else {
@@ -92,7 +106,7 @@ int Simulator::start(int argc, char *argv[])
 
 static void usage()
 {
-	PX4_INFO("Usage: simulator {start -[spt] [-u udp_port / -c tcp_port] |stop}");
+	PX4_INFO("Usage: simulator {start -[spt] [-u udp_port / -c tcp_port] |stop|status}");
 	PX4_INFO("Start simulator:     simulator start");
 	PX4_INFO("Connect using UDP: simulator start -u udp_port");
 	PX4_INFO("Connect using TCP: simulator start -c tcp_port");
@@ -119,7 +133,7 @@ int simulator_main(int argc, char *argv[])
 						Simulator::start,
 						argv);
 
-#if !defined(__PX4_QURT) && defined(ENABLE_LOCKSTEP_SCHEDULER)
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
 
 		// We want to prevent the rest of the startup script from running until time
 		// is initialized by the HIL_SENSOR messages from the simulator.
@@ -143,6 +157,15 @@ int simulator_main(int argc, char *argv[])
 			g_sim_task = -1;
 		}
 
+	} else if (argc == 2 && strcmp(argv[1], "status") == 0) {
+		if (g_sim_task < 0) {
+			PX4_WARN("Simulator not running");
+			return 1;
+
+		} else {
+			Simulator::getInstance()->print_status();
+		}
+
 	} else {
 		usage();
 		return 1;

src/modules/simulator/simulator.h

@@ -95,9 +95,11 @@ public:
 	void set_port(unsigned port) { _port = port; }
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
-	bool has_initialized() {return _has_initialized.load(); }
+	bool has_initialized() { return _has_initialized.load(); }
 #endif
 
+	void print_status();
+
 private:
 	Simulator() : ModuleParams(nullptr)
 	{
@@ -172,8 +174,6 @@ private:
 		}
 	} _battery;
 
-#ifndef __PX4_QURT
-
 	void run();
 	void handle_message(const mavlink_message_t *msg);
 	void handle_message_distance_sensor(const mavlink_message_t *msg);
@@ -248,6 +248,4 @@ private:
 		(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
 		(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id
 	)
-
-#endif
 };

src/modules/simulator/simulator_mavlink.cpp

@@ -33,22 +33,25 @@
  *
  ****************************************************************************/
 
-#include <termios.h>
+#include "simulator.h"
+#include <simulator_config.h>
+
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/time.h>
 #include <px4_platform_common/tasks.h>
-#include "simulator.h"
-#include <simulator_config.h>
-#include "errno.h"
 #include <lib/ecl/geo/geo.h>
 #include <drivers/drv_pwm_output.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netinet/tcp.h>
-#include <pthread.h>
 #include <conversion/rotation.h>
 #include <mathlib/mathlib.h>
 
+#include <errno.h>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#include <poll.h>
+#include <pthread.h>
+#include <sys/socket.h>
+#include <termios.h>
+
 #include <limits>
 
 #ifdef ENABLE_UART_RC_INPUT
@@ -957,7 +960,7 @@ int Simulator::publish_flow_topic(const mavlink_hil_optical_flow_t *flow_mavlink
 
 	_flow_pub.publish(flow);
 
-	return OK;
+	return PX4_OK;
 }
 
 int Simulator::publish_odometry_topic(const mavlink_message_t *odom_mavlink)
@@ -1062,7 +1065,7 @@ int Simulator::publish_odometry_topic(const mavlink_message_t *odom_mavlink)
 	/** @note: frame_id == MAV_FRAME_VISION_NED) */
 	_visual_odometry_pub.publish(odom);
 
-	return OK;
+	return PX4_OK;
 }
 
 int Simulator::publish_distance_topic(const mavlink_distance_sensor_t *dist_mavlink)
@@ -1087,5 +1090,5 @@ int Simulator::publish_distance_topic(const mavlink_distance_sensor_t *dist_mavl
 
 	_dist_pub.publish(dist);
 
-	return OK;
+	return PX4_OK;
 }