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DriverFramework purge

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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)
This commit is contained in:
Daniel Agar
2020-01-09 11:00:40 -05:00
parent 04ba05f5a0
commit de4f594937
165 changed files with 285 additions and 8108 deletions
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src/modules/simulator/simulator.cpp
+27 -4
View File
@@ -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;