QuRT: enable uORB, and simulator

uORB, the simulator and simulated devices now run

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

makefiles/qurt/config_qurt_default.mk

@@ -13,7 +13,7 @@
 MODULES		+= drivers/device
 #MODULES		+= drivers/blinkm
 #MODULES		+= drivers/hil
-#MODULES		+= drivers/led
+MODULES		+= drivers/led
 #MODULES		+= drivers/rgbled
 #MODULES		+= modules/sensors
 #MODULES		+= drivers/ms5611
@@ -47,32 +47,32 @@ MODULES		+= modules/systemlib
 MODULES		+= modules/uORB
 #MODULES		+= modules/dataman
 #MODULES		+= modules/sdlog2
-#MODULES		+= modules/simulator
+MODULES		+= modules/simulator
 #MODULES		+= modules/commander
 
 #
 # Libraries
 #
-#MODULES		+= lib/mathlib
-#MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
 #MODULES		+= lib/geo
 #MODULES		+= lib/geo_lookup
-#MODULES		+= lib/conversion
+MODULES		+= lib/conversion
 
 #
 # QuRT port
 #
 MODULES		+= platforms/qurt/px4_layer
-#MODULES		+= platforms/posix/drivers/accelsim
-#MODULES		+= platforms/posix/drivers/gyrosim
-#MODULES		+= platforms/posix/drivers/adcsim
-#MODULES		+= platforms/posix/drivers/barosim
+MODULES		+= platforms/posix/drivers/accelsim
+MODULES		+= platforms/posix/drivers/gyrosim
+MODULES		+= platforms/posix/drivers/adcsim
+MODULES		+= platforms/posix/drivers/barosim
 
 #
 # Unit tests
 #
 MODULES		+= platforms/qurt/tests/hello
-#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/posix/tests/wqueue
+MODULES		+= platforms/posix/tests/vcdev_test
+MODULES		+= platforms/posix/tests/hrt_test
+MODULES		+= platforms/posix/tests/wqueue
 

makefiles/qurt_elf.mk

@@ -56,11 +56,12 @@ $(PRODUCT_SHARED_PRELINK):	$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS)
 $(PRODUCT_SHARED_LIB):		$(PRODUCT_SHARED_PRELINK)
 	$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
 
-$(WORK_DIR)apps.cpp: $(PX4_BASE)/Tools/qurt_apps.py
+$(WORK_DIR)apps.cpp: $(PX4_BASE)/Tools/qurt_apps.py 
 	$(PX4_BASE)/Tools/qurt_apps.py > $@
 
 $(WORK_DIR)apps.o: $(WORK_DIR)apps.cpp
 	$(call COMPILEXX,$<, $@)
+	mv $(WORK_DIR)apps.cpp $(WORK_DIR)apps.cpp_sav
 
 $(WORK_DIR)mainapp: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB) 
 	$(call LINK,$@, $^)

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

@@ -37,6 +37,7 @@
  * @author Mark Charlebois <mcharleb@gmail.com>
  */
 #include "hrt_test.h"
+#include <px4_log.h>
 #include <px4_app.h>
 #include <px4_tasks.h>
 #include <stdio.h>

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

@@ -190,16 +190,20 @@ int VCDevExample::main()
 			px4_close(fd);
 		} 
 		else if (i > 0) {
-			if (ret == 0)
+			if (ret == 0) {
 				PX4_INFO("==== Nothing to read - PASS\n");
-			else
+			}
+			else {
 				PX4_INFO("==== poll returned %d\n", ret);
+			}
 		}
 		else if (i == 0) {
-			if (ret == 1) 
+			if (ret == 1) {
 				PX4_INFO("==== %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
-			else
+			}
+			else {
 				PX4_INFO("==== %d to read - FAIL\n", ret);
+			}
 		
 		}
 		++i;

src/platforms/qurt/px4_layer/main.cpp

@@ -51,14 +51,17 @@ extern void init_app_map(map<string,px4_main_t> &apps);
 extern void list_builtins(map<string,px4_main_t> &apps);
 
 static const char *commands = 
-"hello start"
-#if 0
+"hello start\n"
 "uorb start\n"
 "simulator start -s\n"
 "barosim start\n"
 "adcsim start\n"
 "accelsim start\n"
 "gyrosim start\n"
+"list_devices\n"
+"list_topics\n"
+"list_tasks"
+#if 0
 "param set CAL_GYRO0_ID 2293760\n"
 "param set CAL_ACC0_ID 1310720\n"
 "param set CAL_ACC1_ID 1376256\n"
@@ -68,8 +71,6 @@ static const char *commands =
 "sensors start\n"
 "hil mode_pwm\n"
 "commander start\n"
-"list_devices\n"
-"list_topics\n"
 #endif
 ;
 
@@ -82,7 +83,7 @@ static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs)
 		unsigned int i = 0;
 		while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
 			arg[i] = (char *)appargs[i].c_str();
-			printf("  arg = '%s'\n", arg[i]);
+			//printf("  arg = '%s'\n", arg[i]);
 			++i;
 		}
 		arg[i] = (char *)0;
@@ -141,7 +142,6 @@ static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
 			eat_whitespace(b, ++i);
 			continue;
 		}
-		printf("ch %c\n", b[i]);
 		++i;
 	}
 }

src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp

@@ -81,12 +81,9 @@ static void *entry_adapter ( void *ptr )
 	pthdata_t *data;            
 	data = (pthdata_t *) ptr;  
 
-	PX4_DBG("entry_adapter");
 	data->entry(data->argc, data->argv);
 	free(ptr);
-	PX4_DBG("Before px4_task_exit");
 	px4_task_exit(0); 
-	PX4_DBG("After px4_task_exit");
 
 	return NULL;
 } 

src/platforms/qurt/tests/hello/hello_example.cpp

@@ -52,7 +52,7 @@ int HelloExample::main()
 	int i=0;
 	while (!appState.exitRequested() && i<5) {
 
-		PX4_DEBUG("  Doing work...\n");
+		PX4_DEBUG("  Doing work...");
 		++i;
 	}
 

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

@@ -47,10 +47,10 @@ int PX4_MAIN(int argc, char **argv)
 {
 	px4::init(argc, argv, "hello");
 
-	PX4_DEBUG("hello\n");
+	PX4_DEBUG("hello");
 	HelloExample hello;
 	hello.main();
 
-	PX4_DEBUG("goodbye\n");
+	PX4_DEBUG("goodbye");
 	return 0;
 }

src/platforms/qurt/tests/hello/hello_start_qurt.cpp

@@ -53,11 +53,10 @@ extern "C" __EXPORT int hello_main(int argc, char *argv[]);
 
 static void usage()
 {
-	PX4_DEBUG("usage: hello {start|stop|status}\n");
+	PX4_DEBUG("usage: hello {start|stop|status}");
 }
 int hello_main(int argc, char *argv[])
 {
-	PX4_DEBUG("argc = %d %s %s %p\n", argc, argv[0], argv[1], argv[2]);
 	if (argc < 2) {
 		usage();
 		return 1;
@@ -65,9 +64,8 @@ int hello_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "start")) {
 
-		PX4_DEBUG("Starting\n");
 		if (HelloExample::appState.isRunning()) {
-			PX4_DEBUG("already running\n");
+			PX4_DEBUG("already running");
 			/* this is not an error */
 			return 0;
 		}
@@ -89,10 +87,10 @@ int hello_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (HelloExample::appState.isRunning()) {
-			PX4_DEBUG("is running\n");
+			PX4_DEBUG("is running");
 
 		} else {
-			PX4_DEBUG("not started\n");
+			PX4_DEBUG("not started");
 		}
 
 		return 0;