From ec61512cdf42db33df0134dbb175a56d026297fb Mon Sep 17 00:00:00 2001
From: David Sidrane <David.Sidrane@NscDg.com>
Date: Tue, 20 Apr 2021 12:34:12 -0700
Subject: [PATCH] NuttX inits null console

---
 boards/cuav/nora/src/bootloader_main.c        |  3 +-
 boards/cuav/x7pro/src/bootloader_main.c       |  3 +-
 .../cubeorange/src/bootloader_main.c          |  3 +-
 boards/holybro/can-gps-v1/src/manifest.c      |  2 +-
 .../holybro/durandal-v1/src/bootloader_main.c |  3 +-
 boards/modalai/fc-v2/src/bootloader_main.c    |  1 -
 .../ctrl-zero-h7-oem/src/bootloader_main.c    |  3 +-
 boards/mro/ctrl-zero-h7/src/bootloader_main.c |  3 +-
 boards/mro/pixracerpro/src/bootloader_main.c  |  3 +-
 boards/px4/fmu-v6u/src/bootloader_main.c      |  3 +-
 boards/px4/fmu-v6x/src/bootloader_main.c      |  3 +-
 platforms/nuttx/src/px4/common/print_load.cpp |  5 +-
 platforms/nuttx/src/px4/common/px4_init.cpp   | 49 +------------------
 13 files changed, 14 insertions(+), 70 deletions(-)

diff --git a/boards/cuav/nora/src/bootloader_main.c b/boards/cuav/nora/src/bootloader_main.c
index 0a481dcc19..bb6b4dc23a 100644
--- a/boards/cuav/nora/src/bootloader_main.c
+++ b/boards/cuav/nora/src/bootloader_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020, 2021 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
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/boards/cuav/x7pro/src/bootloader_main.c b/boards/cuav/x7pro/src/bootloader_main.c
index 0a481dcc19..bb6b4dc23a 100644
--- a/boards/cuav/x7pro/src/bootloader_main.c
+++ b/boards/cuav/x7pro/src/bootloader_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020, 2021 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
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/boards/cubepilot/cubeorange/src/bootloader_main.c b/boards/cubepilot/cubeorange/src/bootloader_main.c
index 0a481dcc19..bb6b4dc23a 100644
--- a/boards/cubepilot/cubeorange/src/bootloader_main.c
+++ b/boards/cubepilot/cubeorange/src/bootloader_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020, 2021 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
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/boards/holybro/can-gps-v1/src/manifest.c b/boards/holybro/can-gps-v1/src/manifest.c
index bad12d0a73..1beb74589a 100644
--- a/boards/holybro/can-gps-v1/src/manifest.c
+++ b/boards/holybro/can-gps-v1/src/manifest.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018, 2021 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
diff --git a/boards/holybro/durandal-v1/src/bootloader_main.c b/boards/holybro/durandal-v1/src/bootloader_main.c
index 677e5dec2a..915b7f3d29 100644
--- a/boards/holybro/durandal-v1/src/bootloader_main.c
+++ b/boards/holybro/durandal-v1/src/bootloader_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019, 2021 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
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/boards/modalai/fc-v2/src/bootloader_main.c b/boards/modalai/fc-v2/src/bootloader_main.c
index 677e5dec2a..cb84261652 100644
--- a/boards/modalai/fc-v2/src/bootloader_main.c
+++ b/boards/modalai/fc-v2/src/bootloader_main.c
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/boards/mro/ctrl-zero-h7-oem/src/bootloader_main.c b/boards/mro/ctrl-zero-h7-oem/src/bootloader_main.c
index 0a481dcc19..bb6b4dc23a 100644
--- a/boards/mro/ctrl-zero-h7-oem/src/bootloader_main.c
+++ b/boards/mro/ctrl-zero-h7-oem/src/bootloader_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020, 2021 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
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/boards/mro/ctrl-zero-h7/src/bootloader_main.c b/boards/mro/ctrl-zero-h7/src/bootloader_main.c
index 0a481dcc19..bb6b4dc23a 100644
--- a/boards/mro/ctrl-zero-h7/src/bootloader_main.c
+++ b/boards/mro/ctrl-zero-h7/src/bootloader_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020, 2021 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
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/boards/mro/pixracerpro/src/bootloader_main.c b/boards/mro/pixracerpro/src/bootloader_main.c
index 0a481dcc19..bb6b4dc23a 100644
--- a/boards/mro/pixracerpro/src/bootloader_main.c
+++ b/boards/mro/pixracerpro/src/bootloader_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020, 2021 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
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/boards/px4/fmu-v6u/src/bootloader_main.c b/boards/px4/fmu-v6u/src/bootloader_main.c
index 677e5dec2a..915b7f3d29 100644
--- a/boards/px4/fmu-v6u/src/bootloader_main.c
+++ b/boards/px4/fmu-v6u/src/bootloader_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019, 2021 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
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/boards/px4/fmu-v6x/src/bootloader_main.c b/boards/px4/fmu-v6x/src/bootloader_main.c
index 677e5dec2a..915b7f3d29 100644
--- a/boards/px4/fmu-v6x/src/bootloader_main.c
+++ b/boards/px4/fmu-v6x/src/bootloader_main.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019, 2021 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
@@ -65,7 +65,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 void board_late_initialize(void)
 {
-	px4_platform_console_init();
 	sercon_main(0, NULL);
 }
 
diff --git a/platforms/nuttx/src/px4/common/print_load.cpp b/platforms/nuttx/src/px4/common/print_load.cpp
index ecfeb1fed0..70a17dfd0a 100644
--- a/platforms/nuttx/src/px4/common/print_load.cpp
+++ b/platforms/nuttx/src/px4/common/print_load.cpp
@@ -335,11 +335,10 @@ void print_load_buffer(char *buffer, int buffer_length, print_load_callback_f cb
 
 	const float sched_load = 1.f - idle_load - task_load;
 
-	snprintf(buffer, buffer_length, "Processes: %d total, %d running, %d sleeping, max FDs: %d",
+	snprintf(buffer, buffer_length, "Processes: %d total, %d running, %d sleeping",
 		 system_load.total_count,
 		 print_state->running_count,
-		 print_state->blocked_count,
-		 CONFIG_NFILE_DESCRIPTORS);
+		 print_state->blocked_count);
 	cb(user);
 	snprintf(buffer, buffer_length, "CPU usage: %.2f%% tasks, %.2f%% sched, %.2f%% idle",
 		 (double)(task_load * 100.f),
diff --git a/platforms/nuttx/src/px4/common/px4_init.cpp b/platforms/nuttx/src/px4/common/px4_init.cpp
index 563974a171..041eccafb9 100644
--- a/platforms/nuttx/src/px4/common/px4_init.cpp
+++ b/platforms/nuttx/src/px4/common/px4_init.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019, 2021 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
@@ -44,56 +44,11 @@
 
 #include <fcntl.h>
 
-int px4_platform_console_init(void)
-{
-#if !defined(CONFIG_DEV_CONSOLE) && defined(CONFIG_DEV_NULL)
-
-	/* Support running nsh on a board with out a console
-	 * Without this the assumption that the fd 0..2 are
-	 * std{in..err} will be wrong. NSH will read/write to the
-	 * fd it opens for the init script or nested scripts assigned
-	 * to fd 0..2.
-	 *
-	 */
-
-	int fd = open("/dev/null", O_RDWR);
-
-	if (fd == 0) {
-		/* Successfully opened /dev/null as stdin (fd == 0) */
-
-		(void)fs_dupfd2(0, 1);
-		(void)fs_dupfd2(0, 2);
-		(void)fs_fdopen(0, O_RDONLY,         NULL, NULL);
-		(void)fs_fdopen(1, O_WROK | O_CREAT, NULL, NULL);
-		(void)fs_fdopen(2, O_WROK | O_CREAT, NULL, NULL);
-
-	} else {
-		/* We failed to open /dev/null OR for some reason, we opened
-		 * it and got some file descriptor other than 0.
-		 */
-
-		if (fd > 0) {
-			(void)close(fd);
-		}
-
-		return -ENFILE;
-
-	}
-
-#endif
-	return OK;
-}
 
 int px4_platform_init(void)
 {
 
-	int ret = px4_platform_console_init();
-
-	if (ret < 0) {
-		return ret;
-	}
-
-	ret = px4_console_buffer_init();
+	int ret = px4_console_buffer_init();
 
 	if (ret < 0) {
 		return ret;