platforms/posix/src: move to platforms/posix/src/px4/common

PX4 · Aug 30, 2019 · fa8165a · fa8165a
1 parent 8cbb385
commit fa8165a
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Showing 33 changed files with 43 additions and 112 deletions.
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
@@ -1,6 +1,4 @@
 
-add_subdirectory(src)
-
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
@@ -37,7 +35,7 @@ if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlfl
 		APPS_DEST "/home/linaro"
 		SOURCES
 			px4muorb_stub.c
-			src/main.cpp
+			src/px4/common/main.cpp
 			apps.cpp
 		LINK_LIBS
 			-Wl,--start-group
@@ -52,7 +50,7 @@ if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlfl
 
 else()
 	add_executable(px4
-		src/main.cpp
+		src/px4/common/main.cpp
 		apps.cpp
 		)
 

diff --git a/platforms/posix/cmake/px4_impl_os.cmake b/platforms/posix/cmake/px4_impl_os.cmake
@@ -150,7 +150,7 @@ function(px4_posix_generate_alias)
 			)
 		endif()
 	endforeach()
-	configure_file(${PX4_SOURCE_DIR}/platforms/posix/src/px4-alias.sh_in ${OUT})
+	configure_file(${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/px4-alias.sh_in ${OUT})
 endfunction()
 
 

diff --git a/platforms/posix/src/CMakeLists.txt b/platforms/posix/src/CMakeLists.txt
diff --git a/platforms/posix/src/px4/common/CMakeLists.txt b/platforms/posix/src/px4/common/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015 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
@@ -31,3 +31,42 @@
 #
 ############################################################################
 
+
+add_subdirectory(px4_daemon)
+add_subdirectory(lockstep_scheduler)
+
+set(EXTRA_DEPENDS)
+if("${CONFIG_SHMEM}" STREQUAL "1")
+	list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+	include(hexagon_sdk)
+	include_directories(${HEXAGON_SDK_INCLUDES})
+	include_directories(${PX4_BINARY_DIR}/platforms/posix)
+	list(APPEND SHMEM_SRCS
+		shmem_posix.cpp
+	)
+	add_definitions(-DCONFIG_SHMEM=1)
+	set(EXTRA_DEPENDS generate_px4muorb_stubs)
+endif()
+
+add_library(px4_layer
+	px4_posix_impl.cpp
+	px4_posix_tasks.cpp
+	px4_sem.cpp
+	px4_init.cpp
+	lib_crc32.c
+	drv_hrt.cpp
+	${SHMEM_SRCS}
+)
+target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
+target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable
+target_link_libraries(px4_layer PRIVATE work_queue px4_work_queue)
+target_link_libraries(px4_layer PRIVATE px4_daemon drivers_board)
+
+if(ENABLE_LOCKSTEP_SCHEDULER)
+	target_link_libraries(px4_layer PRIVATE lockstep_scheduler)
+endif()
+
+
+if (EXTRA_DEPENDS)
+	add_dependencies(px4_layer ${EXTRA_DEPENDS})
+endif()
diff --git a/platforms/posix/src/px4_layer/drv_hrt.cpp → platforms/posix/src/px4/common/drv_hrt.cpp b/platforms/posix/src/px4_layer/drv_hrt.cpp → platforms/posix/src/px4/common/drv_hrt.cpp
diff --git a/platforms/posix/src/px4_layer/lib_crc32.c → platforms/posix/src/px4/common/lib_crc32.c b/platforms/posix/src/px4_layer/lib_crc32.c → platforms/posix/src/px4/common/lib_crc32.c
diff --git a/...s/posix/src/lockstep_scheduler/.gitignore → .../px4/common/lockstep_scheduler/.gitignore b/...s/posix/src/lockstep_scheduler/.gitignore → .../px4/common/lockstep_scheduler/.gitignore
diff --git a/...six/src/lockstep_scheduler/CMakeLists.txt → .../common/lockstep_scheduler/CMakeLists.txt b/...six/src/lockstep_scheduler/CMakeLists.txt → .../common/lockstep_scheduler/CMakeLists.txt
diff --git a/.../src/lockstep_scheduler/build-and-test.sh → ...mmon/lockstep_scheduler/build-and-test.sh b/.../src/lockstep_scheduler/build-and-test.sh → ...mmon/lockstep_scheduler/build-and-test.sh
diff --git a/...e/lockstep_scheduler/lockstep_scheduler.h → ...e/lockstep_scheduler/lockstep_scheduler.h b/...e/lockstep_scheduler/lockstep_scheduler.h → ...e/lockstep_scheduler/lockstep_scheduler.h
diff --git a/...step_scheduler/src/lockstep_scheduler.cpp → ...step_scheduler/src/lockstep_scheduler.cpp b/...step_scheduler/src/lockstep_scheduler.cpp → ...step_scheduler/src/lockstep_scheduler.cpp
diff --git a/...rc/lockstep_scheduler/test/CMakeLists.txt → ...on/lockstep_scheduler/test/CMakeLists.txt b/...rc/lockstep_scheduler/test/CMakeLists.txt → ...on/lockstep_scheduler/test/CMakeLists.txt
diff --git a/...uler/test/src/lockstep_scheduler_test.cpp → ...uler/test/src/lockstep_scheduler_test.cpp b/...uler/test/src/lockstep_scheduler_test.cpp → ...uler/test/src/lockstep_scheduler_test.cpp
diff --git a/platforms/posix/src/main.cpp → platforms/posix/src/px4/common/main.cpp b/platforms/posix/src/main.cpp → platforms/posix/src/px4/common/main.cpp
diff --git a/platforms/posix/src/px4-alias.sh_in → ...orms/posix/src/px4/common/px4-alias.sh_in b/platforms/posix/src/px4-alias.sh_in → ...orms/posix/src/px4/common/px4-alias.sh_in
diff --git a/...forms/posix/src/px4_daemon/CMakeLists.txt → .../src/px4/common/px4_daemon/CMakeLists.txt b/...forms/posix/src/px4_daemon/CMakeLists.txt → .../src/px4/common/px4_daemon/CMakeLists.txt
diff --git a/platforms/posix/src/px4_daemon/client.cpp → ...osix/src/px4/common/px4_daemon/client.cpp b/platforms/posix/src/px4_daemon/client.cpp → ...osix/src/px4/common/px4_daemon/client.cpp
diff --git a/platforms/posix/src/px4_daemon/client.h → .../posix/src/px4/common/px4_daemon/client.h b/platforms/posix/src/px4_daemon/client.h → .../posix/src/px4/common/px4_daemon/client.h
diff --git a/platforms/posix/src/px4_daemon/history.cpp → ...six/src/px4/common/px4_daemon/history.cpp b/platforms/posix/src/px4_daemon/history.cpp → ...six/src/px4/common/px4_daemon/history.cpp
diff --git a/platforms/posix/src/px4_daemon/history.h → ...posix/src/px4/common/px4_daemon/history.h b/platforms/posix/src/px4_daemon/history.h → ...posix/src/px4/common/px4_daemon/history.h
diff --git a/platforms/posix/src/px4_daemon/pxh.cpp → ...s/posix/src/px4/common/px4_daemon/pxh.cpp b/platforms/posix/src/px4_daemon/pxh.cpp → ...s/posix/src/px4/common/px4_daemon/pxh.cpp
diff --git a/platforms/posix/src/px4_daemon/pxh.h → ...rms/posix/src/px4/common/px4_daemon/pxh.h b/platforms/posix/src/px4_daemon/pxh.h → ...rms/posix/src/px4/common/px4_daemon/pxh.h
diff --git a/platforms/posix/src/px4_daemon/server.cpp → ...osix/src/px4/common/px4_daemon/server.cpp b/platforms/posix/src/px4_daemon/server.cpp → ...osix/src/px4/common/px4_daemon/server.cpp
diff --git a/platforms/posix/src/px4_daemon/server.h → .../posix/src/px4/common/px4_daemon/server.h b/platforms/posix/src/px4_daemon/server.h → .../posix/src/px4/common/px4_daemon/server.h
diff --git a/platforms/posix/src/px4_daemon/server_io.cpp → ...x/src/px4/common/px4_daemon/server_io.cpp b/platforms/posix/src/px4_daemon/server_io.cpp → ...x/src/px4/common/px4_daemon/server_io.cpp
diff --git a/...ms/posix/src/px4_daemon/sock_protocol.cpp → ...c/px4/common/px4_daemon/sock_protocol.cpp b/...ms/posix/src/px4_daemon/sock_protocol.cpp → ...c/px4/common/px4_daemon/sock_protocol.cpp
diff --git a/...orms/posix/src/px4_daemon/sock_protocol.h → ...src/px4/common/px4_daemon/sock_protocol.h b/...orms/posix/src/px4_daemon/sock_protocol.h → ...src/px4/common/px4_daemon/sock_protocol.h
diff --git a/platforms/posix/src/px4_layer/px4_init.cpp → platforms/posix/src/px4/common/px4_init.cpp b/platforms/posix/src/px4_layer/px4_init.cpp → platforms/posix/src/px4/common/px4_init.cpp
diff --git a/...ms/posix/src/px4_layer/px4_posix_impl.cpp → ...s/posix/src/px4/common/px4_posix_impl.cpp b/...ms/posix/src/px4_layer/px4_posix_impl.cpp → ...s/posix/src/px4/common/px4_posix_impl.cpp
diff --git a/...s/posix/src/px4_layer/px4_posix_tasks.cpp → .../posix/src/px4/common/px4_posix_tasks.cpp b/...s/posix/src/px4_layer/px4_posix_tasks.cpp → .../posix/src/px4/common/px4_posix_tasks.cpp
diff --git a/platforms/posix/src/px4_layer/px4_sem.cpp → platforms/posix/src/px4/common/px4_sem.cpp b/platforms/posix/src/px4_layer/px4_sem.cpp → platforms/posix/src/px4/common/px4_sem.cpp
diff --git a/...forms/posix/src/px4_layer/shmem_posix.cpp → ...orms/posix/src/px4/common/shmem_posix.cpp b/...forms/posix/src/px4_layer/shmem_posix.cpp → ...orms/posix/src/px4/common/shmem_posix.cpp
diff --git a/platforms/posix/src/px4_layer/CMakeLists.txt b/platforms/posix/src/px4_layer/CMakeLists.txt