PX4 general work queue

platforms/posix/CMakeLists.txt

@@ -62,10 +62,11 @@ else()
 			${df_driver_libs}
 			df_driver_framework
 			pthread m
-			
+
 			# horrible circular dependencies that need to be teased apart
-			px4_layer
-			px4_platform
+			px4_layer px4_platform
+			work_queue
+			parameters
 	)
 
 	if (NOT APPLE)

platforms/posix/src/px4_layer/CMakeLists.txt

@@ -55,7 +55,7 @@ add_library(px4_layer
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable
-target_link_libraries(px4_layer PRIVATE work_queue)
+target_link_libraries(px4_layer PRIVATE work_queue px4_work_queue)
 target_link_libraries(px4_layer PRIVATE px4_daemon)
 
 if(ENABLE_LOCKSTEP_SCHEDULER)

platforms/posix/src/px4_layer/px4_init.cpp

@@ -37,6 +37,7 @@
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
+#include <px4_work_queue/WorkQueueManager.hpp>
 
 int px4_platform_init(void)
 {
@@ -44,5 +45,7 @@ int px4_platform_init(void)
 
 	param_init();
 
+	px4::WorkQueueManagerStart();
+
 	return PX4_OK;
 }