mavlink模块可以初步编译通过

nextpilot · May 9, 2024 · f497784 · f497784
1 parent d9bb760
commit f497784
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Showing 68 changed files with 756 additions and 579 deletions.
diff --git a/apps/estimator/ekf2/EKF2.cpp b/apps/estimator/ekf2/EKF2.cpp
@@ -17,10 +17,10 @@ using matrix::Eulerf;
 using matrix::Quatf;
 using matrix::Vector3f;
 
-pthread_mutex_t            ekf2_module_mutex = PTHREAD_MUTEX_INITIALIZER;
-static px4::atomic<EKF2 *> _objects[EKF2_MAX_INSTANCES]{};
+pthread_mutex_t       ekf2_module_mutex = PTHREAD_MUTEX_INITIALIZER;
+static atomic<EKF2 *> _objects[EKF2_MAX_INSTANCES]{};
 #if defined(CONFIG_EKF2_MULTI_INSTANCE)
-static px4::atomic<EKF2Selector *> _ekf2_selector{nullptr};
+static atomic<EKF2Selector *> _ekf2_selector{nullptr};
 #endif // CONFIG_EKF2_MULTI_INSTANCE
 
 EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode) :

diff --git a/apps/estimator/ekf2/EKF2.hpp b/apps/estimator/ekf2/EKF2.hpp
@@ -246,7 +246,7 @@ class EKF2 final : public ModuleParams, public WorkItemScheduled {
     const bool _multi_mode;
     int        _instance{0};
 
-    px4::atomic_bool _task_should_exit{false};
+    atomic_bool _task_should_exit{false};
 
     // time slip monitoring
     uint64_t _integrated_time_us = 0; ///< integral of gyro delta time from start (uSec)

diff --git a/apps/estimator/ekf2/EKF2Selector.hpp b/apps/estimator/ekf2/EKF2Selector.hpp
@@ -151,9 +151,9 @@ class EKF2Selector : public ModuleParams, public WorkItemScheduled {
     bool        _gyro_fault_detected{false};
     bool        _accel_fault_detected{false};
 
-    uint8_t              _available_instances{0};
-    uint8_t              _selected_instance{INVALID_INSTANCE};
-    px4::atomic<uint8_t> _request_instance{INVALID_INSTANCE};
+    uint8_t         _available_instances{0};
+    uint8_t         _selected_instance{INVALID_INSTANCE};
+    atomic<uint8_t> _request_instance{INVALID_INSTANCE};
 
     uint32_t    _instance_changed_count{0};
     hrt_abstime _last_instance_change{0};

diff --git a/apps/estimator/temperature_compensation/temperature_calibration/task.cpp b/apps/estimator/temperature_compensation/temperature_calibration/task.cpp
@@ -37,7 +37,7 @@
 class TemperatureCalibration;
 
 namespace temperature_calibration {
-px4::atomic<TemperatureCalibration *> instance{nullptr};
+atomic<TemperatureCalibration *> instance{nullptr};
 }
 
 class TemperatureCalibration {

diff --git a/apps/libraries/telemetry/Kconfig b/apps/libraries/telemetry/Kconfig
@@ -0,0 +1 @@
+orsource "*/Kconfig"
diff --git a/apps/libraries/telemetry/SConscript b/apps/libraries/telemetry/SConscript
@@ -0,0 +1,18 @@
+import os
+import rtconfig
+from building import *
+
+cwd = GetCurrentDir()
+objs = []
+
+
+inc = [cwd]
+
+objs += DefineGroup(name="lib/include", src=[], depend=[], CPPPATH=inc)
+
+for d in os.listdir(cwd):
+    path = os.path.join(cwd, d)
+    if os.path.isfile(os.path.join(path, "SConscript")):
+        objs += SConscript(os.path.join(d, "SConscript"))
+
+Return("objs")
diff --git a/apps/libraries/telemetry/button/ButtonPublisher.hpp b/apps/libraries/telemetry/button/ButtonPublisher.hpp
@@ -19,15 +19,16 @@
 
 #include <drivers/drv_tone_alarm.h>
 #include <hrtimer.h>
-#include <uORB/Publication.hpp>
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/Subscription.hpp>
+#include <uORB/uORBPublication.hpp>
+#include <uORB/uORBSubscription.hpp>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/button_event.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/led_control.h>
 #include <uORB/topics/tune_control.h>
 
+using namespace nextpilot;
+
 class ButtonPublisher
 {
 public:

diff --git a/apps/libraries/telemetry/button/CMakeLists.txt b/apps/libraries/telemetry/button/CMakeLists.txt
diff --git a/apps/libraries/telemetry/button/Kconfig b/apps/libraries/telemetry/button/Kconfig
@@ -0,0 +1,3 @@
+menuconfig PKG_USING_BUTTON_PUBLISHER
+	bool "Library for button functionality"
+	default n
diff --git a/apps/libraries/telemetry/button/SConscript b/apps/libraries/telemetry/button/SConscript
@@ -0,0 +1,16 @@
+import os
+import rtconfig
+from building import *
+
+
+cwd = GetCurrentDir()
+
+inc = []
+src = Glob("*.cpp")
+
+objs = DefineGroup(
+    "lib/timesync", src, depend=["PKG_USING_BUTTON_PUBLISHER"], CPPPATH=inc
+)
+
+
+Return("objs")
diff --git a/apps/libraries/telemetry/timesync/CMakeLists.txt b/apps/libraries/telemetry/timesync/CMakeLists.txt
diff --git a/apps/libraries/telemetry/timesync/Kconfig b/apps/libraries/telemetry/timesync/Kconfig
@@ -0,0 +1,3 @@
+menuconfig PKG_USING_TIMESYNC
+	bool "time synchroniser definition"
+	default n
diff --git a/apps/libraries/telemetry/timesync/SConscript b/apps/libraries/telemetry/timesync/SConscript
@@ -0,0 +1,14 @@
+import os
+import rtconfig
+from building import *
+
+
+cwd = GetCurrentDir()
+
+inc = []
+src = Glob("*.cpp")
+
+objs = DefineGroup("lib/timesync", src, depend=["PKG_USING_TIMESYNC"], CPPPATH=inc)
+
+
+Return("objs")
diff --git a/apps/libraries/telemetry/timesync/Timesync.hpp b/apps/libraries/telemetry/timesync/Timesync.hpp
@@ -19,13 +19,14 @@
 
 #include <hrtimer.h>
 
-#include <uORB/PublicationMulti.hpp>
+#include <uORB/uORBPublication.hpp>
 #include <uORB/topics/timesync_status.h>
 
 #include <math.h>
 #include <float.h>
 
 using namespace time_literals;
+using namespace nextpilot;
 
 static constexpr time_t PX4_EPOCH_SECS = 1234567890ULL;
 

diff --git a/apps/peripheral/payload/gimbal/gimbal.cpp b/apps/peripheral/payload/gimbal/gimbal.cpp
@@ -44,8 +44,8 @@
 using namespace time_literals;
 using namespace gimbal;
 
-static px4::atomic<bool> thread_should_exit{false};
-static px4::atomic<bool> thread_running{false};
+static atomic<bool> thread_should_exit{false};
+static atomic<bool> thread_running{false};
 
 static constexpr int input_objs_len_max = 3;
 

diff --git a/apps/peripheral/payload/gimbal/input_test.h b/apps/peripheral/payload/gimbal/input_test.h
@@ -32,7 +32,7 @@ class InputTest : public InputBase {
     int _pitch_deg{0};
     int _yaw_deg{0};
 
-    px4::atomic<bool> _has_been_set{false};
+    atomic<bool> _has_been_set{false};
 };
 
 } /* namespace gimbal */
diff --git a/apps/simulation/gz_bridge/GZBridge.hpp b/apps/simulation/gz_bridge/GZBridge.hpp
@@ -106,7 +106,7 @@ class GZBridge : public ModuleCommand<GZBridge>, public ModuleParams, public Wor
     GZMixingInterfaceESC   _mixing_interface_esc{_node, _node_mutex};
     GZMixingInterfaceServo _mixing_interface_servo{_node, _node_mutex};
 
-    px4::atomic<uint64_t> _world_time_us{0};
+    atomic<uint64_t> _world_time_us{0};
 
     pthread_mutex_t _node_mutex;
 

diff --git a/apps/simulation/simulator_mavlink/SimulatorMavlink.hpp b/apps/simulation/simulator_mavlink/SimulatorMavlink.hpp
@@ -290,7 +290,7 @@ class SimulatorMavlink : public ModuleParams {
     int32_t _output_functions[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS]{};
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
-    px4::atomic<bool> _has_initialized{false};
+    atomic<bool> _has_initialized{false};
 #endif
 
     int _lockstep_component{-1};

diff --git a/apps/storage/replay/Replay.cpp b/apps/storage/replay/Replay.cpp
@@ -130,7 +130,7 @@ void Replay::setUserParams(const char *filename) {
             int32_t value = (int32_t)param_value_double;
 
             if (orig_value != value) {
-                PX4_WARN("setting %s (INT32) %d -> %d", param_name(handle), orig_value, value);
+                PX4_WARN("setting %s (INT32) %d -> %d", param_get_name(handle), orig_value, value);
             }
 
             param_set(handle, (const void *)&value);
@@ -142,7 +142,7 @@ void Replay::setUserParams(const char *filename) {
             float value = (float)param_value_double;
 
             if (fabsf(orig_value - value) > FLT_EPSILON) {
-                PX4_WARN("setting %s (FLOAT) %.3f -> %.3f", param_name(handle), (double)orig_value, (double)value);
+                PX4_WARN("setting %s (FLOAT) %.3f -> %.3f", param_get_name(handle), (double)orig_value, (double)value);
             }
 
             param_set(handle, (const void *)&value);

diff --git a/apps/telemetry/mavlink/Kconfig b/apps/telemetry/mavlink/Kconfig
@@ -1,5 +1,6 @@
 menuconfig TEL_USING_MAVLINK
 	bool "mavlink"
+	select PKG_USING_VAR_LEN_RINGBUFFER
 	default n
 	---help---
 		Enable support for mavlink
@@ -18,6 +19,11 @@ depends on TEL_USING_MAVLINK && TEL_USING_UAVCAN
 	---help---
 		Expose UAVCAN parameters over Mavlink.
 
+
+config MAVLINK_USING_SHELL
+	bool "enable mavlink shell service"
+	default n
+
 # menuconfig USER_MAVLINK
 # 	bool "mavlink running as userspace module"
 # 	default y

diff --git a/apps/telemetry/mavlink/MavlinkStatustextHandler.cpp b/apps/telemetry/mavlink/MavlinkStatustextHandler.cpp
@@ -16,9 +16,9 @@ bool MavlinkStatustextHandler::should_publish_previous(const mavlink_statustext_
     // happen if the last chunk has been dropped, let's publish what we have.
     if (_last_log_id > 0 && msg_statustext.id != _last_log_id) {
         // We add a note that a part is missing at the end.
-        const size_t offset = strlen(_log_msg.text);
-        strncpy(_log_msg.text + offset, "[ missing ... ]",
-                sizeof(_log_msg.text) - offset);
+        const size_t offset = rt_strlen(_log_msg.text);
+        rt_strncpy(_log_msg.text + offset, "[ missing ... ]",
+                   sizeof(_log_msg.text) - offset);
         _log_msg.text[sizeof(_log_msg.text) - 1] = '\0';
 
         return true;
@@ -38,29 +38,29 @@ bool MavlinkStatustextHandler::should_publish_current(const mavlink_statustext_t
 
         if (msg_statustext.chunk_seq == 0) {
             // We start from 0 with a new message.
-            strncpy(_log_msg.text, msg_statustext.text,
-                    math::min(sizeof(_log_msg.text), sizeof(msg_statustext.text)));
+            rt_strncpy(_log_msg.text, msg_statustext.text,
+                       math::min(sizeof(_log_msg.text), sizeof(msg_statustext.text)));
             _log_msg.text[sizeof(msg_statustext.text)] = '\0';
 
         } else {
             if (msg_statustext.chunk_seq != _last_log_chunk_seq + 1) {
-                const size_t offset = strlen(_log_msg.text);
-                strncpy(_log_msg.text + offset, "[ missing ... ]",
-                        sizeof(_log_msg.text) - offset);
+                const size_t offset = rt_strlen(_log_msg.text);
+                rt_strncpy(_log_msg.text + offset, "[ missing ... ]",
+                           sizeof(_log_msg.text) - offset);
                 _log_msg.text[sizeof(_log_msg.text) - offset - 1] = '\0';
             }
 
             // We add a consecutive chunk.
-            const size_t offset     = strlen(_log_msg.text);
+            const size_t offset     = rt_strlen(_log_msg.text);
             const size_t max_to_add = math::min(sizeof(_log_msg.text) - offset - 1, sizeof(msg_statustext.text));
-            strncpy(_log_msg.text + offset, msg_statustext.text, max_to_add);
+            rt_strncpy(_log_msg.text + offset, msg_statustext.text, max_to_add);
             _log_msg.text[math::min(offset + max_to_add, sizeof(_log_msg.text) - 1)] = '\0';
         }
 
         _last_log_chunk_seq = msg_statustext.chunk_seq;
 
-        const bool publication_message_is_full = sizeof(_log_msg.text) - 1 == strlen(_log_msg.text);
-        const bool found_zero_termination      = strnlen(msg_statustext.text, sizeof(msg_statustext.text)) < sizeof(msg_statustext.text);
+        const bool publication_message_is_full = sizeof(_log_msg.text) - 1 == rt_strlen(_log_msg.text);
+        const bool found_zero_termination      = rt_strnlen(msg_statustext.text, sizeof(msg_statustext.text)) < sizeof(msg_statustext.text);
 
         if (publication_message_is_full || found_zero_termination) {
             _last_log_id        = 0;
@@ -80,9 +80,9 @@ bool MavlinkStatustextHandler::should_publish_current(const mavlink_statustext_t
         static_assert(sizeof(_log_msg.text) > sizeof(msg_statustext.text),
                       "_log_msg.text not big enough to hold msg_statustext.text");
 
-        strncpy(_log_msg.text, msg_statustext.text,
-                math::min(sizeof(_log_msg.text),
-                          sizeof(msg_statustext.text)));
+        rt_strncpy(_log_msg.text, msg_statustext.text,
+                   math::min(sizeof(_log_msg.text),
+                             sizeof(msg_statustext.text)));
 
         // We need to 0-terminate after the copied text which does not have to be
         // 0-terminated on the wire.