Merge pull request #2498 from mcharleb/bringup-m5

POSIX: Critical fix for vdev_posix

src/drivers/device/vdev_posix.cpp

@@ -54,24 +54,10 @@ using namespace device;
 
 extern "C" {
 
-struct timerData {
-	sem_t &sem;
-	struct timespec &ts;
- 
-	timerData(sem_t &s, struct timespec &t) : sem(s), ts(t) {}
-	~timerData() {}
-};
-
 static void timer_cb(void *data)
 {
-	struct timerData *td = (struct timerData *)data;
-
-	if (td->ts.tv_sec) {
-		sleep(td->ts.tv_sec);
-	}
-	usleep(td->ts.tv_nsec/1000);
-	sem_post(&(td->sem));
-
+	sem_t *p_sem = (sem_t *)data;
+	sem_post(p_sem);
 	PX4_DEBUG("timer_handler: Timer expired");
 }
 
@@ -211,7 +197,6 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
 	int count = 0;
 	int ret;
 	unsigned int i;
-	struct timespec ts;
 
 	PX4_DEBUG("Called px4_poll timeout = %d", timeout);
 	sem_init(&sem, 0, 0);
@@ -242,8 +227,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
 			// Use a work queue task
 			work_s _hpwork;
 
-			struct timerData td(sem, ts);
-			hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)&td, 1000*timeout);
+			hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)&sem, 1000*timeout);
 			sem_wait(&sem);
 
 			// Make sure timer thread is killed before sem goes

src/modules/uORB/uORBDevices_posix.cpp

@@ -421,10 +421,6 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
 			break;
 		}
 
-// FIXME - the calls to hrt_called and hrt_call_after seem not to work in the
-//         POSIX build
-#ifndef __PX4_POSIX
-
 		/*
 		 * If the interval timer is still running, the topic should not
 		 * appear updated, even though at this point we know that it has.
@@ -445,7 +441,6 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
 			       sd->update_interval,
 			       &uORB::DeviceNode::update_deferred_trampoline,
 			       (void *)this);
-#endif
 
 		/*
 		 * Remember that we have told the subscriber that there is data.

src/platforms/posix/include/hrt_work.h

@@ -46,12 +46,14 @@ void hrt_work_queue_init(void);
 int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t usdelay);
 void hrt_work_cancel(struct work_s *work);
 
+static inline void hrt_work_lock(void);
 static inline void hrt_work_lock()
 {
 	//PX4_INFO("hrt_work_lock");
 	sem_wait(&_hrt_work_lock);
 }
 
+static inline void hrt_work_unlock(void);
 static inline void hrt_work_unlock()
 {
 	//PX4_INFO("hrt_work_unlock");