platforms: clean up various build/linking issues

This makes sure lockstep is only built for SITL builds and fixes the
existing builds.

src/drivers/gps/definitions.h

@@ -40,6 +40,7 @@
 #pragma once
 
 #include <px4_defines.h>
+#include <px4_time.h>
 
 #define GPS_INFO(...) PX4_INFO(__VA_ARGS__)
 #define GPS_WARN(...) PX4_WARN(__VA_ARGS__)

src/include/visibility.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012-2018 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
@@ -64,10 +64,12 @@
  * still needs to be used, thus we remap system_exit to exit.
  */
 #define system_exit exit
-#ifdef __PX4_POSIX
-#include <stdlib.h>
 
+#if defined(__PX4_POSIX_SITL)
+
+#include <stdlib.h>
 #include <unistd.h>
+
 #define system_usleep usleep
 #pragma GCC poison usleep
 #define system_sleep sleep
@@ -81,18 +83,13 @@
 // We can't poison pthread_cond_timedwait because it seems to be used in the
 // <string> include.
 
-
 #ifdef __cplusplus
 #include <cstdlib>
 #endif
 #pragma GCC poison exit
-#endif
 
-#ifdef __PX4_NUTTX
-/* On NuttX we call clearenv() so we cannot use getenv() and others (see px4_task_spawn_cmd() in px4_nuttx_tasks.c).
- * We need to include the headers declaring getenv() before the pragma, otherwise it will trigger a poison error.
- */
 #include <stdlib.h>
+
 #ifdef __cplusplus
 #include <cstdlib>
 #endif
@@ -102,11 +99,25 @@
 #include <unistd.h>
 #include <time.h>
 
+#else // defined(__PX4_POSIX_SITL)
+
 #define system_usleep usleep
 #define system_sleep sleep
-
 #define system_clock_gettime clock_gettime
 #define system_clock_settime clock_settime
+#define system_pthread_cond_timedwait pthread_cond_timedwait
 
+#endif
+
+
+#if defined(__PX4_NUTTX)
+/* On NuttX we call clearenv() so we cannot use getenv() and others (see
+ * px4_task_spawn_cmd() in px4_nuttx_tasks.c).
+ * We need to include the headers declaring getenv() before the pragma,
+ * otherwise it will trigger a poison error.  */
+#include <stdlib.h>
+#ifdef __cplusplus
+#include <cstdlib>
+#endif
 #pragma GCC poison getenv setenv putenv
-#endif /* __PX4_NUTTX */
+#endif // defined(__PX4_NUTTX)

src/platforms/common/work_queue/hrt_thread.c

@@ -42,6 +42,7 @@
 #include <px4_defines.h>
 #include <px4_posix.h>
 #include <px4_tasks.h>
+#include <px4_time.h>
 #include <stdint.h>
 #include <signal.h>
 #include <stdio.h>

src/platforms/px4_sem.h

@@ -50,7 +50,7 @@
 #define sem_setprotocol(s,p)
 #endif
 
-#if defined(__PX4_DARWIN) || defined(__PX4_CYGWIN) || defined(__PX4_POSIX)
+#if (defined(__PX4_DARWIN) || defined(__PX4_CYGWIN) || defined(__PX4_POSIX)) && !defined(__PX4_QURT)
 
 __BEGIN_DECLS
 
@@ -71,24 +71,36 @@ __EXPORT int		px4_sem_destroy(px4_sem_t *s);
 
 __END_DECLS
 
-#else
+//#elif defined(__PX4_QURT)
 
-__BEGIN_DECLS
+//typedef sem_t px4_sem_t;
+
+//#define px4_sem_init		sem_init
+//#define px4_sem_setprotocol sem_setprotocol
+//#define px4_sem_wait		sem_wait
+//#define px4_sem_trywait	sem_trywait
+//#define px4_sem_post		sem_post
+//#define px4_sem_getvalue	sem_getvalue
+//#define px4_sem_destroy		sem_destroy
+
+#else
 
 typedef sem_t px4_sem_t;
 
+__BEGIN_DECLS
+
 #define px4_sem_init		sem_init
-#define px4_sem_setprotocol sem_setprotocol
+#define px4_sem_setprotocol	sem_setprotocol
 #define px4_sem_wait		sem_wait
-#define px4_sem_trywait	sem_trywait
+#define px4_sem_trywait		sem_trywait
 #define px4_sem_post		sem_post
 #define px4_sem_getvalue	sem_getvalue
 #define px4_sem_destroy		sem_destroy
 
-#ifdef __PX4_QURT
+#if defined(__PX4_QURT)
 __EXPORT int		px4_sem_timedwait(px4_sem_t *sem, const struct timespec *abstime);
 #else
-#define px4_sem_timedwait	 sem_timedwait
+#define px4_sem_timedwait	sem_timedwait
 #endif
 
 __END_DECLS

src/platforms/px4_time.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <unistd.h>
 #include <sys/types.h>
 #include <time.h>
 #include <pthread.h>
@@ -8,20 +9,7 @@
 #define clockid_t unsigned
 #endif
 
-#if defined(__PX4_QURT)
-
-#include <sys/timespec.h>
-
-__BEGIN_DECLS
-
-int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
-int px4_clock_settime(clockid_t clk_id, struct timespec *tp);
-
-__EXPORT unsigned int sleep(unsigned int sec);
-
-__END_DECLS
-
-#elif defined(__PX4_POSIX)
+#if defined(__PX4_POSIX_SITL) || defined(__PX4_QURT)
 
 __BEGIN_DECLS
 __EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
@@ -34,11 +22,12 @@ __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond,
 					const struct timespec *abstime);
 __END_DECLS
 
-#elif defined(__PX4_NUTTX)
+#else
 
 #define px4_clock_gettime system_clock_gettime
 #define px4_clock_settime system_clock_settime
 #define px4_usleep system_usleep
 #define px4_sleep system_sleep
+#define px4_pthread_cond_timedwait system_pthread_cond_timedwait
 
 #endif