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/platforms/posix/tests/hello/hello_example.cpp

@@ -0,0 +1,61 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_example.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include "hello_example.h"
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppState HelloExample::appState;
+
+int HelloExample::main()
+{
+	appState.setRunning(true);
+
+	int i=0;
+	while (!appState.exitRequested() && i<5) {
+		sleep(2);
+
+		printf("  Doing work...\n");
+		++i;
+	}
+
+	return 0;
+}

src/platforms/posix/tests/hello/hello_example.h

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_example.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+
+class HelloExample {
+public:
+	HelloExample() {};
+
+	~HelloExample() {};
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+};

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

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include "hello_example.h"
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "hello");
+
+	printf("hello\n");
+	HelloExample hello;
+	hello.main();
+
+	printf("goodbye\n");
+	return 0;
+}

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

@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_start_posix.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "hello_example.h"
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+#define SCHED_DEFAULT	SCHED_FIFO
+#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
+#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+//using namespace px4;
+
+extern "C" __EXPORT int hello_main(int argc, char *argv[]);
+int hello_main(int argc, char *argv[])
+{
+	
+	if (argc < 2) {
+		printf("usage: hello {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (HelloExample::appState.isRunning()) {
+			printf("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("hello",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       PX4_MAIN,
+				       (argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		HelloExample::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (HelloExample::appState.isRunning()) {
+			printf("is running\n");
+
+		} else {
+			printf("not started\n");
+		}
+
+		return 0;
+	}
+
+	printf("usage: hello_main {start|stop|status}\n");
+	return 1;
+}

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

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2014 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
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= hello
+
+SRCS		= hello_main.cpp \
+		  hello_start_posix.cpp \
+		  hello_example.cpp
+

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

@@ -0,0 +1,66 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hrt_test.cpp
+ * Test High Resolution Timers in Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include <drivers/drv_hrt.h>
+#include "hrt_test.h"
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppState HRTTest::appState;
+
+int HRTTest::main()
+{
+	appState.setRunning(true);
+
+	hrt_abstime t = hrt_absolute_time();
+	usleep(1000000);
+	hrt_abstime elt = hrt_elapsed_time(&t);
+	printf("Elapsed time %llu in 1 sec (usleep)\n", (unsigned long long)elt);
+	printf("Start time %llu\n", (unsigned long long)t);
+
+	t = hrt_absolute_time();
+	sleep(1);
+	elt = hrt_elapsed_time(&t);
+	printf("Elapsed time %llu in 1 sec (sleep)\n", (unsigned long long)elt);
+	printf("Start time %llu\n", (unsigned long long)t);
+
+	return 0;
+}

src/platforms/posix/tests/hrt_test/hrt_test.h

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hrt_test.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+
+class HRTTest {
+public:
+	HRTTest() {};
+
+	~HRTTest() {};
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+};

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

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include "hrt_test.h"
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "hello");
+
+	printf("hello\n");
+	HRTTest test;
+	test.main();
+
+	printf("goodbye\n");
+	return 0;
+}

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

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hrt_test_start_posix.cpp
+ *
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "hrt_test.h"
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+extern "C" __EXPORT int hrttest_main(int argc, char *argv[]);
+int hrttest_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		printf("usage: hrttest_main {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (HRTTest::appState.isRunning()) {
+			printf("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("hrttest",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       PX4_MAIN,
+				       (argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		HRTTest::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (HRTTest::appState.isRunning()) {
+			printf("is running\n");
+
+		} else {
+			printf("not started\n");
+		}
+
+		return 0;
+	}
+
+	printf("usage: hrttest_main {start|stop|status}\n");
+	return 1;
+}

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

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2014 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
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= hrttest
+
+SRCS		= hrt_test_main.cpp \
+		  hrt_test_start_posix.cpp \
+		  hrt_test.cpp
+

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

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2014 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
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= vcdevtest
+
+SRCS		= vcdevtest_main.cpp \
+		  vcdevtest_start_posix.cpp \
+		  vcdevtest_example.cpp
+

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

@@ -0,0 +1,196 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vcdevtest_example.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include <px4_tasks.h>
+#include "vcdevtest_example.h"
+#include "drivers/device/device.h"
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppState VCDevExample::appState;
+
+using namespace device;
+
+#define TESTDEV "/dev/vdevex"
+
+static int writer_main(int argc, char *argv[])
+{
+	char buf[1] = { '1' };
+
+	int fd = px4_open(TESTDEV, PX4_F_RDONLY);
+	if (fd < 0) {
+		printf("--- Open failed %d %d", fd, px4_errno);
+		return -px4_errno;
+	}
+
+	// Wait for 3 seconds
+	printf("--- Sleeping for 3 sec\n");
+	int ret = sleep(3);
+	if (ret < 0) {
+		printf("--- usleep failed %d %d\n", ret, errno);
+		return ret;
+	}
+
+	printf("--- writing to fd\n");
+	return px4_write(fd, buf, 1);
+}
+
+class VCDevNode : public CDev {
+public:
+	VCDevNode() : CDev("vcdevtest", TESTDEV) {};
+
+	~VCDevNode() {}
+
+	virtual ssize_t write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
+};
+
+ssize_t VCDevNode::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
+{
+	// ignore what was written, but let pollers know something was written
+	poll_notify(POLLIN);
+
+	return buflen;
+}
+
+VCDevExample::~VCDevExample() {
+	if (_node) {
+		delete _node;
+		_node = 0;
+	}
+}
+
+static int test_pub_block(int fd, unsigned long blocked)
+{
+	int ret = px4_ioctl(fd, PX4_DEVIOCSPUBBLOCK, blocked);
+	if (ret < 0) {
+		printf("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno);
+		return -px4_errno;
+	}
+
+	ret = px4_ioctl(fd, PX4_DEVIOCGPUBBLOCK, 0);
+	if (ret < 0) {
+		printf("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
+		return -px4_errno;
+	}
+	printf("pub_blocked = %d %s\n", ret, (unsigned long)ret == blocked ? "PASS" : "FAIL");
+
+	return 0;
+}
+
+int VCDevExample::main()
+{
+	appState.setRunning(true);
+
+	_node = new VCDevNode();
+
+	if (_node == 0) {
+		printf("Failed to allocate VCDevNode\n");
+		return -ENOMEM;
+	}
+
+	if (_node->init() != PX4_OK) {
+		printf("Failed to init VCDevNode\n");
+		return 1;
+	}
+
+	int fd = px4_open(TESTDEV, PX4_F_RDONLY);
+
+	if (fd < 0) {
+		printf("Open failed %d %d", fd, px4_errno);
+		return -px4_errno;
+	}
+
+	void *p = 0;
+	int ret = px4_ioctl(fd, PX4_DIOC_GETPRIV, (unsigned long)&p);
+	if (ret < 0) {
+		printf("ioctl PX4_DIOC_GETPRIV failed %d %d", ret, px4_errno);
+		return -px4_errno;
+	}
+	printf("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL");
+
+	ret = test_pub_block(fd, 1);
+	if (ret < 0)
+		return ret;
+	ret = test_pub_block(fd, 0);
+	if (ret < 0)
+		return ret;
+
+	int i=0;
+	px4_pollfd_struct_t fds[1];
+
+	// Start a task that will write something in 3 seconds
+	(void)px4_task_spawn_cmd("writer", 
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 6,
+				       2000,
+				       writer_main,
+				       (char* const*)NULL);
+
+	while (!appState.exitRequested() && i<3) {
+		sleep(2);
+
+		printf("  polling...\n");
+		fds[0].fd = fd;
+		fds[0].events = POLLIN;
+		fds[0].revents = 0;
+
+		printf("  Calling Poll\n");
+		ret = px4_poll(fds, 1, 1000);
+		printf("  Done poll\n");
+		if (ret < 0) {
+			printf("poll failed %d %d\n", ret, px4_errno);
+			px4_close(fd);
+		} 
+		else if (i > 0 && ret == 0)
+			printf("  Nothing to read - PASS\n");
+		else if (i == 0) {
+			if (ret == 1) 
+				printf("  %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
+			else
+				printf("  %d to read - FAIL\n", ret);
+		
+		}
+		++i;
+	}
+	px4_close(fd);
+
+	return 0;
+}

src/platforms/posix/tests/vcdev_test/vcdevtest_example.h

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vcdevtest_example.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+
+class VCDevNode;
+
+class VCDevExample {
+public:
+	VCDevExample() : _node(0) {};
+
+	~VCDevExample();
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+
+private:
+	VCDevNode *_node;
+};

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

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vcdevtest_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include "vcdevtest_example.h"
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "vcdevtest");
+
+	printf("vcdevtest\n");
+	VCDevExample vcdevtest;
+	vcdevtest.main();
+
+	printf("goodbye\n");
+	return 0;
+}

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

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vcdevtest_start_posix.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "vcdevtest_example.h"
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+//using namespace px4;
+
+extern "C" __EXPORT int vcdevtest_main(int argc, char *argv[]);
+int vcdevtest_main(int argc, char *argv[])
+{
+	
+	if (argc < 2) {
+		printf("usage: vcdevtest {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (VCDevExample::appState.isRunning()) {
+			printf("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("vcdevtest",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       PX4_MAIN,
+				       (argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		VCDevExample::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (VCDevExample::appState.isRunning()) {
+			printf("is running\n");
+
+		} else {
+			printf("not started\n");
+		}
+
+		return 0;
+	}
+
+	printf("usage: vcdevtest_main {start|stop|status}\n");
+	return 1;
+}

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

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2014 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
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= wqueue_test
+
+SRCS		= wqueue_main.cpp \
+		  wqueue_start_posix.cpp \
+		  wqueue_test.cpp
+

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

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file wqueue_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include "wqueue_test.h"
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "wqueue_test");
+
+	printf("wqueue hello\n");
+	WQueueTest wq;
+	wq.main();
+
+	printf("goodbye\n");
+	return 0;
+}

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

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file wqueue_start_posix.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "wqueue_test.h"
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+//using namespace px4;
+
+extern "C" __EXPORT int wqueue_test_main(int argc, char *argv[]);
+int wqueue_test_main(int argc, char *argv[])
+{
+	
+	if (argc < 2) {
+		printf("usage: wqueue_test {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (WQueueTest::appState.isRunning()) {
+			printf("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("wqueue",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       PX4_MAIN,
+				       (argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		WQueueTest::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (WQueueTest::appState.isRunning()) {
+			printf("is running\n");
+
+		} else {
+			printf("not started\n");
+		}
+
+		return 0;
+	}
+
+	printf("usage: wqueue_test {start|stop|status}\n");
+	return 1;
+}

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

@@ -0,0 +1,96 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file wqueue_example.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include <px4_workqueue.h>
+#include "wqueue_test.h"
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppState WQueueTest::appState;
+
+void WQueueTest::hp_worker_cb(void *p)
+{
+	WQueueTest *wqep = (WQueueTest *)p;
+
+	wqep->do_hp_work();
+}
+
+void WQueueTest::lp_worker_cb(void *p)
+{
+	WQueueTest *wqep = (WQueueTest *)p;
+
+	wqep->do_lp_work();
+}
+
+void WQueueTest::do_lp_work()
+{
+	printf("done lp work\n");
+	_lpwork_done = true;
+}
+
+void WQueueTest::do_hp_work()
+{
+	printf("done hp work\n");
+	_hpwork_done = true;
+}
+
+int WQueueTest::main()
+{
+	appState.setRunning(true);
+
+	//Put work on HP work queue
+	work_queue(HPWORK, &_hpwork, (worker_t)&hp_worker_cb, this, 1);
+
+
+	//Put work on LP work queue
+	work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1);
+
+
+	// Wait for work to finsh
+	while (!appState.exitRequested() && !(_hpwork_done && _lpwork_done)) {
+		printf("  Sleeping...\n");
+		sleep(2);
+
+		printf("  Waiting on work...\n");
+	}
+
+	return 0;
+}

src/platforms/posix/tests/wqueue/wqueue_test.h

@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file wqueue_test.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+#include <px4_workqueue.h>
+#include <string.h>
+
+class WQueueTest {
+public:
+	WQueueTest() : 
+		_lpwork_done(false), 
+		_hpwork_done(false) 
+	{
+		memset(&_lpwork, 0, sizeof(_lpwork));
+		memset(&_hpwork, 0, sizeof(_hpwork));
+	};
+
+	~WQueueTest() {};
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+private:
+	static void hp_worker_cb(void *p);
+	static void lp_worker_cb(void *p);
+
+	void do_lp_work(void);
+	void do_hp_work(void);
+
+	bool _lpwork_done;
+	bool _hpwork_done;
+	work_s _lpwork;
+	work_s _hpwork;
+};