Linux to posix conversion

Changed "linux" target to "posix". Most of the changes are shared with
QuRT and with OSX. The Linux specific parts are in for i2c which uses
<linux/i2c.h> and <linux/i2c-dev.h>.

There is also a check for __PX4_LINUX in mavlink for a tty ioctl that is
not supported.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/drivers/blinkm/module.mk

@@ -40,7 +40,7 @@ MODULE_COMMAND	= blinkm
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		= blinkm_nuttx.cpp
 else
-SRCS		= blinkm_linux.cpp
+SRCS		= blinkm_posix.cpp
 endif
 
 MAXOPTIMIZATION	 = -Os

src/drivers/device/device.h

@@ -35,7 +35,7 @@
 
 #ifdef __PX4_NUTTX
 #include "device_nuttx.h"
-#elif defined (__PX4_LINUX)
+#elif defined (__PX4_POSIX)
 #include "vdev.h"
 #endif
 

src/drivers/device/i2c.h

@@ -35,5 +35,5 @@
 #ifdef __PX4_NUTTX
 #include "i2c_nuttx.h"
 #else
-#include "i2c_linux.h"
+#include "i2c_posix.h"
 #endif

src/drivers/device/i2c_posix.cpp

@@ -41,8 +41,10 @@
  */
 
 #include "i2c.h"
+#ifdef __PX4_LINUX
 #include <linux/i2c.h>
 #include <linux/i2c-dev.h>
+#endif
 #include <unistd.h>
 #include <fcntl.h>
 #include <sys/ioctl.h>

src/drivers/device/i2c_posix.h

@@ -43,8 +43,10 @@
 #include "vdev.h"
 
 #include <px4_i2c.h>
+#ifdef __PX4_LINUX
 #include <linux/i2c.h>
 #include <linux/i2c-dev.h>
+#endif
 #include <string>
 
 namespace device __EXPORT

src/drivers/device/module.mk

@@ -44,11 +44,11 @@ SRCS =		  \
 		  spi.cpp \
 		  ringbuffer.cpp
 endif
-ifeq ($(PX4_TARGET_OS),linux)
+ifeq ($(PX4_TARGET_OS),posix)
 SRCS =		  vdev.cpp \
 		  device.cpp \
 		  vdev_posix.cpp \
-		  i2c_linux.cpp  \
+		  i2c_posix.cpp  \
 		  sim.cpp \
 		  ringbuffer.cpp
 endif

src/drivers/drv_gpio.h

@@ -114,14 +114,14 @@
 /* no GPIO driver on the PX4_STM32F4DISCOVERY board */
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_LINUXTEST
-/* no GPIO driver on the LINUXTEST board */
+#ifdef CONFIG_ARCH_BOARD_POSIXTEST
+/* no GPIO driver on the POSIXTEST board */
 #endif
 
 #if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2)  && \
 	!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
 	!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
-	!defined(CONFIG_ARCH_BOARD_LINUXTEST)
+	!defined(CONFIG_ARCH_BOARD_POSIXTEST)
 # error No CONFIG_ARCH_BOARD_xxxx set
 #endif
 /*

src/drivers/hil/module.mk

@@ -41,6 +41,6 @@ ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		= hil.cpp
 MAXOPTIMIZATION	 = -Os
 else
-SRCS		= hil_linux.cpp
+SRCS		= hil_posix.cpp
 endif
 

src/drivers/ms5611/module.mk

@@ -40,7 +40,7 @@ MODULE_COMMAND	= ms5611
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		= ms5611_nuttx.cpp ms5611_spi.cpp ms5611_i2c.cpp
 else
-SRCS		= ms5611_linux.cpp ms5611_spi.cpp ms5611_i2c.cpp ms5611_sim.cpp
+SRCS		= ms5611_posix.cpp ms5611_spi.cpp ms5611_i2c.cpp ms5611_sim.cpp
 endif
 
 MAXOPTIMIZATION	 = -Os

src/drivers/rgbled/module.mk

@@ -7,7 +7,7 @@ MODULE_COMMAND	 = rgbled
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		 = rgbled.cpp
 else
-SRCS		 = rgbled_linux.cpp
+SRCS		 = rgbled_posix.cpp
 endif
 
 MAXOPTIMIZATION	 = -Os

src/lib/mathlib/math/Limits.cpp

@@ -47,7 +47,7 @@
 namespace math
 {
 
-#if !defined(CONFIG_ARCH_ARM) && !defined(__PX4_LINUX)
+#if !defined(CONFIG_ARCH_ARM) && !defined(__PX4_POSIX)
 #define M_PI_F 3.14159265358979323846f
 #endif
 

src/lib/version/version.h

@@ -59,7 +59,7 @@
 #define HW_ARCH "PX4_STM32F4DISCOVERY"
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_LINUXTEST
+#ifdef CONFIG_ARCH_BOARD_POSIXTEST
 #define	HW_ARCH "LINUXTEST"
 #endif
 #endif /* VERSION_H_ */

src/modules/commander/module.mk

@@ -52,7 +52,7 @@ ifdef ($(PX4_TARGET_OS),nuttx)
 SRCS += 
 			state_machine_helper.cpp 
 else
-SRCS +=			state_machine_helper_linux.cpp 
+SRCS +=			state_machine_helper_posix.cpp 
 endif
 
 MODULE_STACKSIZE = 5000

src/modules/mavlink/mavlink_main.h

@@ -35,5 +35,5 @@
 #ifdef __PX4_NUTTX
 #include "mavlink_main_nuttx.h"
 #else
-#include "mavlink_main_linux.h"
+#include "mavlink_main_posix.h"
 #endif

src/modules/mavlink/mavlink_main_posix.h

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file mavlink_main_linux.h
+ * @file mavlink_main_posix.h
  * MAVLink 1.0 protocol interface definition.
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>

src/modules/mavlink/mavlink_receiver_nuttx.cpp

@@ -41,7 +41,7 @@
  */
 
 /* XXX trim includes */
-#include <px4_config.h>
+#include <nuttx/config.h>
 #include <unistd.h>
 #include <pthread.h>
 #include <stdio.h>

src/modules/mavlink/mavlink_tests/module.mk

@@ -42,7 +42,7 @@ SRCS			= mavlink_tests.cpp \
 ifeq ($(PX4_TARGET_NUTTX),nuttx)
 SRCS += 		../mavlink_ftp_nuttx.cpp 
 else
-SRCS += 		../mavlink_ftp_linux.cpp 
+SRCS += 		../mavlink_ftp_posix.cpp 
 endif
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink

src/modules/mavlink/module.mk

@@ -41,9 +41,9 @@ SRCS		 += 	mavlink_main_nuttx.cpp \
 			mavlink_ftp_nuttx.cpp \
 			mavlink_receiver_nuttx.cpp 
 else
-SRCS		 += 	mavlink_main_linux.cpp \
-			mavlink_ftp_linux.cpp \
-			mavlink_receiver_linux.cpp 
+SRCS		 += 	mavlink_main_posix.cpp \
+			mavlink_ftp_posix.cpp \
+			mavlink_receiver_posix.cpp 
 endif
 
 SRCS 		 +=	mavlink.c \

src/modules/sensors/module.mk

@@ -41,7 +41,7 @@ MODULE_PRIORITY	= "SCHED_PRIORITY_MAX-5"
 ifeq ($(PX$_TARGET_OS),nuttx)
 SRCS		= sensors_nuttx.cpp 
 else
-SRCS		= sensors_linux.cpp 
+SRCS		= sensors_posix.cpp 
 endif
 SRCS +=		  sensor_params.c
 

src/modules/sensors/sensors_nuttx.cpp

@@ -46,7 +46,7 @@
  * @author Anton Babushkin <anton@px4.io>
  */
 
-#include <px4_config.h>
+#include <nuttx/config.h>
 
 #include <fcntl.h>
 #include <poll.h>

src/modules/systemlib/param/param.h

@@ -396,7 +396,7 @@ struct param_info_s {
 // See https://llvm.org/bugs/show_bug.cgi?format=multiple&id=18006
 // The following hack is for GCC >=4.8 only. Clang works fine without
 // this.
-#ifdef __PX4_LINUX
+#ifdef __PX4_POSIX
 				__attribute__((aligned(16)));
 #else
 				;

src/platforms/posix/px4_layer/module.mk

@@ -36,8 +36,8 @@
 #
 
 SRCS		 = 	\
-			px4_linux_impl.cpp \
-			px4_linux_tasks.cpp  \
+			px4_posix_impl.cpp \
+			px4_posix_tasks.cpp  \
 			work_thread.c \
 			work_queue.c \
 			work_cancel.c \

src/platforms/posix/px4_layer/px4_posix_impl.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_linux_impl.cpp
+ * @file px4_posix_impl.cpp
  *
  * PX4 Middleware Wrapper Linux Implementation
  */

src/platforms/posix/px4_layer/px4_posix_tasks.cpp

@@ -33,7 +33,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_linux_tasks.c
+ * @file px4_posix_tasks.c
  * Implementation of existing task API for Linux
  */
 

src/platforms/posix/px4_layer/queue.c

@@ -35,7 +35,7 @@
  ************************************************************************/
 
 // FIXME - need px4_queue
-#include <platforms/linux/include/queue.h>
+#include <platforms/posix/include/queue.h>
 #include <stddef.h>
 
 __EXPORT void sq_rem(sq_entry_t *node, sq_queue_t *queue);

src/platforms/posix/tests/hello/hello_start_posix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file hello_start_linux.cpp
+ * @file hello_start_posix.cpp
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Mark Charlebois <mcharleb@gmail.com>

src/platforms/posix/tests/hello/module.mk

@@ -38,6 +38,6 @@
 MODULE_COMMAND	= hello
 
 SRCS		= hello_main.cpp \
-		  hello_start_linux.cpp \
+		  hello_start_posix.cpp \
 		  hello_example.cpp
 

src/platforms/posix/tests/hrt_test/hrt_test_start_posix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file hrt_test_start_linux.cpp
+ * @file hrt_test_start_posix.cpp
  *
  * @author Mark Charlebois <mcharleb@gmail.com>
  */

src/platforms/posix/tests/hrt_test/module.mk

@@ -38,6 +38,6 @@
 MODULE_COMMAND	= hrttest
 
 SRCS		= hrt_test_main.cpp \
-		  hrt_test_start_linux.cpp \
+		  hrt_test_start_posix.cpp \
 		  hrt_test.cpp
 

src/platforms/posix/tests/vcdev_test/module.mk

@@ -38,6 +38,6 @@
 MODULE_COMMAND	= vcdevtest
 
 SRCS		= vcdevtest_main.cpp \
-		  vcdevtest_start_linux.cpp \
+		  vcdevtest_start_posix.cpp \
 		  vcdevtest_example.cpp
 

src/platforms/posix/tests/vcdev_test/vcdevtest_start_posix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file vcdevtest_start_linux.cpp
+ * @file vcdevtest_start_posix.cpp
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Mark Charlebois <mcharleb@gmail.com>

src/platforms/posix/tests/wqueue/module.mk

@@ -38,6 +38,6 @@
 MODULE_COMMAND	= wqueue_test
 
 SRCS		= wqueue_main.cpp \
-		  wqueue_start_linux.cpp \
+		  wqueue_start_posix.cpp \
 		  wqueue_test.cpp
 

src/platforms/posix/tests/wqueue/wqueue_start_poosix.cpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file wqueue_start_linux.cpp
+ * @file wqueue_start_posix.cpp
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Mark Charlebois <mcharleb@gmail.com>

src/platforms/px4_adc.h

@@ -48,7 +48,7 @@
  * Building for NuttX
  */
 #include <nuttx/analog/adc.h>
-#elif defined(__PX4_LINUX)
+#elif defined(__PX4_POSIX)
 
 // FIXME - this needs to be a px4_adc_msg_s type
 // Curently copied from NuttX

src/platforms/px4_config.h

@@ -42,12 +42,12 @@
 
 #if defined(__PX4_NUTTX)
 #include <px4_config.h>
-#elif defined (__PX4_LINUX) || defined (__PX4_QURT)
+#elif defined (__PX4_POSIX) || defined (__PX4_QURT)
 #define CONFIG_NFILE_STREAMS 1
 #define CONFIG_SCHED_WORKQUEUE 1
 #define CONFIG_SCHED_HPWORK 1
 #define CONFIG_SCHED_LPWORK 1
-#define CONFIG_ARCH_BOARD_LINUXTEST 1
+#define CONFIG_ARCH_BOARD_POSIXTEST 1
 
 /** time in ms between checks for work in work queues **/
 #define CONFIG_SCHED_WORKPERIOD 10

src/platforms/px4_defines.h

@@ -67,7 +67,7 @@
 /* Get value of parameter by name, which is equal to the handle for ros */
 #define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
 
-#elif defined(__PX4_NUTTX) || defined(__PX4_LINUX) || defined(__PX4_QURT)
+#elif defined(__PX4_NUTTX) || defined(__PX4_POSIX) || defined(__PX4_QURT)
 /*
  * Building for NuttX or Linux
  */
@@ -107,7 +107,7 @@ typedef param_t px4_param_t;
 #define PX4_ISFINITE(x) isfinite(x)
 
 /* Linux Specific defines */
-#elif defined(__PX4_LINUX)
+#elif defined(__PX4_POSIX)
 
 // Flag is meaningless on Linux
 #define O_BINARY 0
@@ -134,7 +134,7 @@ __END_DECLS
 
 
 /* Defines for ROS and Linux */
-#if defined(__PX4_ROS) || defined(__PX4_LINUX) || defined(__PX4_QURT)
+#if defined(__PX4_ROS) || defined(__PX4_POSIX) || defined(__PX4_QURT)
 #define OK 0
 #define ERROR -1
 

src/platforms/px4_i2c.h

@@ -70,7 +70,7 @@ typedef struct i2c_dev_s px4_i2c_dev_t;
 
 #define px4_interrupt_context() up_interrupt_context()
 
-#elif defined(__PX4_LINUX)
+#elif defined(__PX4_POSIX)
 #include <stdint.h>
 
 #define I2C_M_READ           0x0001          /* read data, from slave to master */

src/platforms/px4_includes.h

@@ -102,7 +102,7 @@
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 
-#elif defined(__PX4_LINUX)
+#elif defined(__PX4_POSIX)
 #include <string.h>
 #include <assert.h>
 #include <uORB/uORB.h>
@@ -110,24 +110,24 @@
 #define ASSERT(x) assert(x)
 
 #ifdef __cplusplus
-#include <platforms/linux/px4_messages/px4_rc_channels.h>
-#include <platforms/linux/px4_messages/px4_vehicle_attitude_setpoint.h>
-#include <platforms/linux/px4_messages/px4_manual_control_setpoint.h>
-#include <platforms/linux/px4_messages/px4_actuator_controls.h>
-#include <platforms/linux/px4_messages/px4_actuator_controls_0.h>
-#include <platforms/linux/px4_messages/px4_actuator_controls_1.h>
-#include <platforms/linux/px4_messages/px4_actuator_controls_2.h>
-#include <platforms/linux/px4_messages/px4_actuator_controls_3.h>
-#include <platforms/linux/px4_messages/px4_vehicle_rates_setpoint.h>
-#include <platforms/linux/px4_messages/px4_vehicle_attitude.h>
-#include <platforms/linux/px4_messages/px4_vehicle_control_mode.h>
-#include <platforms/linux/px4_messages/px4_actuator_armed.h>
-#include <platforms/linux/px4_messages/px4_parameter_update.h>
-#include <platforms/linux/px4_messages/px4_vehicle_status.h>
-#include <platforms/linux/px4_messages/px4_vehicle_local_position_setpoint.h>
-#include <platforms/linux/px4_messages/px4_vehicle_global_velocity_setpoint.h>
-#include <platforms/linux/px4_messages/px4_vehicle_local_position.h>
-#include <platforms/linux/px4_messages/px4_position_setpoint_triplet.h>
+#include <platforms/posix/px4_messages/px4_rc_channels.h>
+#include <platforms/posix/px4_messages/px4_vehicle_attitude_setpoint.h>
+#include <platforms/posix/px4_messages/px4_manual_control_setpoint.h>
+#include <platforms/posix/px4_messages/px4_actuator_controls.h>
+#include <platforms/posix/px4_messages/px4_actuator_controls_0.h>
+#include <platforms/posix/px4_messages/px4_actuator_controls_1.h>
+#include <platforms/posix/px4_messages/px4_actuator_controls_2.h>
+#include <platforms/posix/px4_messages/px4_actuator_controls_3.h>
+#include <platforms/posix/px4_messages/px4_vehicle_rates_setpoint.h>
+#include <platforms/posix/px4_messages/px4_vehicle_attitude.h>
+#include <platforms/posix/px4_messages/px4_vehicle_control_mode.h>
+#include <platforms/posix/px4_messages/px4_actuator_armed.h>
+#include <platforms/posix/px4_messages/px4_parameter_update.h>
+#include <platforms/posix/px4_messages/px4_vehicle_status.h>
+#include <platforms/posix/px4_messages/px4_vehicle_local_position_setpoint.h>
+#include <platforms/posix/px4_messages/px4_vehicle_global_velocity_setpoint.h>
+#include <platforms/posix/px4_messages/px4_vehicle_local_position.h>
+#include <platforms/posix/px4_messages/px4_position_setpoint_triplet.h>
 #endif
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>

src/platforms/px4_spi.h

@@ -2,7 +2,7 @@
 
 #ifdef __PX4_NUTTX
 #include <nuttx/spi.h>
-#elif defined(__PX4_LINUX)
+#elif defined(__PX4_POSIX)
 enum spi_dev_e
 {
   SPIDEV_NONE = 0,    /* Not a valid value */

src/platforms/px4_tasks.h

@@ -49,7 +49,7 @@ typedef int px4_task_t;
 
 #define px4_task_exit(x) _exit(x)
 
-#elif defined(__PX4_LINUX) || defined(__PX4_QURT)
+#elif defined(__PX4_POSIX) || defined(__PX4_QURT)
 #include <pthread.h>
 #include <sched.h>
 

src/platforms/px4_workqueue.h

@@ -41,7 +41,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
-#elif defined(__PX4_LINUX) || defined(__PX4_QURT)
+#elif defined(__PX4_POSIX) || defined(__PX4_QURT)
 
 #include <stdint.h>
 #include <queue.h>

src/platforms/qurt/tests/hello/module.mk

@@ -38,6 +38,6 @@
 MODULE_COMMAND	= hello
 
 SRCS		= hello_main.cpp \
-		  hello_start_linux.cpp \
+		  hello_start_qurt.cpp \
 		  hello_example.cpp