This adds a src/board/<bebop|eagle|excelsior|rpi|sitl>/board_config.h
to configure the build as is done with the Nuttx targets
src/platforms/posix/include/board_config.h has been renamed to
src/platforms/posix/include/system_config.h to allow the common
posix defines to be included with the board specific defines.
Steps to debug:
* Run gazebo (or any other sim) server and client viewers via the terminal: `make posix_sitl_default gazebo_none_ide`
* In your IDE select `px4_<mode>` target you want to debug (e.g. `px4_iris`)
* Start debug session directly from IDE
This approach significantly reduces the debug cycle time because simulator (e.g. gazebo) is always running in background and you only re-run px4 process which is very light.
Steps to debug:
* Run gazebo (or any other sim) server and client viewers via the terminal: `make posix_sitl_default gazebo_none_ide`
* In your IDE select `px4_<mode>` target you want to debug (e.g. `px4_iris`)
* Start debug session directly from IDE
This approach significantly reduces the debug cycle time because simulator (e.g. gazebo) is always running in background and you only re-run px4 process which is very light.
<systemlib/err.h> --> "systemlib/err.h" that fix_headers.sh
would miss because it comes after code it doesn't understand.
Effectively remove the '__EXPORT extern perf_counter_t perf_alloc('
line, because currently perf_alloc is defined to be NULL, and
after running fix_headers.sh that happens *before* this header
is included (the order of headers will be changed).
Do not define NULL to be (void*)0: that only works for C.
In fact, the conversions needed for NULL are so full of exceptions
that standard C++ introduced a new *keyword*: nullptr.
That's what we really should be using for C++ code.
In this case I just include the correct header to define NULL
the correct way.
Not really related to the header line:
Removed an #include <time.h> because I noted that px4_time.h
was already included... and moved a #include <sys/time.h>
to the top of the file (not really a fan of including headers
in the middle unless absolutely necessary).
Removed a include of queue.h because I noted it wasn't used.
These are some changes that I needed to compile
most of the unsupported targets.
After this all (make list_config_targets) compile
for me except: posix_eagle_muorb, posix_sdflight_default
and qurt_eagle_legacy_driver_default.
app.h, generated from app.h_in, has unnecessary code duplication
and isn't a header file (it defines globals, static functions
and doesn't have a header guard, moreover, it has a 'using namespace
std;'). Because of this, a real headerfile that declares the stuff
defined in apps.h was missing leading to even more code duplication:
scattered forward declarations in .cpp files and an often repeated
type of std::map<std::string, px4_main_t>.
This patch moves cmake/qurt/apps.h_in to src/platforms/apps.cpp.in
(with some changes) and removes cmake/posix/apps.h_in.
Then src/platforms/apps.cpp.in is split into src/platforms/apps.cpp.in
and src/platforms/apps.h.in, splitting declarations from definitions.
A typedef is defined for the map (apps_map_type).
The main difference between cmake/posix/apps.h_in and
cmake/qurt/apps.h_in was that the first defined a global 'apps',
while qurt stores the apps in QShell. I opted to get rid of
the global variable (which are in general evil for various reasons)
and used the API of cmake/qurt/apps.h_in where a provided 'apps'
map is initialized with a call to init_app_map. Thus removing
the existing code duplication.
Daniel Agar