From ae2631e47199220ea8a61af231585cbbbc88a157 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 27 Aug 2019 11:45:31 +0200
Subject: [PATCH] px4_middleware: remove that header and move px4::init to
 px4_init.h

delete include:
for i in $(grep -rl 'px4_middleware.h' src platforms); do sed -i '/#include <px4_middleware.h/d' $i; done
---
 .../px4_work_queue/test/wqueue_main.cpp       |  2 +-
 .../work_queue/wqueue_test/wqueue_main.cpp    |  1 -
 .../nuttx/src/px4/common/px4_nuttx_impl.cpp   |  6 --
 platforms/posix/src/px4/common/main.cpp       |  3 +-
 .../posix/src/px4/common/px4_posix_impl.cpp   |  6 --
 platforms/posix/src/px4/common/px4_sem.cpp    |  1 -
 platforms/qurt/src/px4/common/main.cpp        |  2 +-
 .../qurt/src/px4/common/px4_qurt_impl.cpp     |  1 -
 src/drivers/pwm_out_sim/PWMSim.hpp            |  1 -
 src/drivers/qshell/qurt/qshell.cpp            |  1 -
 src/drivers/qshell/qurt/qshell_main.cpp       |  2 +-
 src/drivers/qurt/tests/hello/hello_main.cpp   |  2 +-
 .../qurt/tests/muorb/muorb_test_main.cpp      |  2 +-
 .../tests/muorb/muorb_test_start_qurt.cpp     |  1 +
 src/examples/hello/hello_main.cpp             |  2 +-
 src/lib/cdev/test/cdevtest_main.cpp           |  2 +-
 src/modules/muorb/adsp/px4muorb.cpp           |  1 -
 src/modules/muorb/test/muorb_test_main.cpp    |  2 +-
 src/platforms/px4_common.h                    |  7 --
 src/platforms/px4_init.h                      | 16 +++++
 src/platforms/px4_middleware.h                | 67 -------------------
 .../tests/hrt_test/hrt_test_main.cpp          |  2 +-
 .../topic_listener/generate_listener.py       |  1 -
 .../topic_listener/topic_listener.hpp         |  1 -
 24 files changed, 27 insertions(+), 105 deletions(-)
 delete mode 100644 src/platforms/px4_common.h
 delete mode 100644 src/platforms/px4_middleware.h

diff --git a/platforms/common/px4_work_queue/test/wqueue_main.cpp b/platforms/common/px4_work_queue/test/wqueue_main.cpp
index aeb95c622b8b..e2106b9294de 100644
--- a/platforms/common/px4_work_queue/test/wqueue_main.cpp
+++ b/platforms/common/px4_work_queue/test/wqueue_main.cpp
@@ -35,8 +35,8 @@
 #include "wqueue_scheduled_test.h"
 
 #include <px4_log.h>
-#include <px4_middleware.h>
 #include <px4_app.h>
+#include <px4_init.h>
 #include <stdio.h>
 
 int PX4_MAIN(int argc, char **argv)
diff --git a/platforms/common/work_queue/wqueue_test/wqueue_main.cpp b/platforms/common/work_queue/wqueue_test/wqueue_main.cpp
index 9f693c62a922..fb222df24c68 100644
--- a/platforms/common/work_queue/wqueue_test/wqueue_main.cpp
+++ b/platforms/common/work_queue/wqueue_test/wqueue_main.cpp
@@ -40,7 +40,6 @@
 #include "wqueue_test.h"
 
 #include <px4_log.h>
-#include <px4_middleware.h>
 #include <px4_app.h>
 #include <stdio.h>
 
diff --git a/platforms/nuttx/src/px4/common/px4_nuttx_impl.cpp b/platforms/nuttx/src/px4/common/px4_nuttx_impl.cpp
index e760cee5e9b9..30780b11d70f 100644
--- a/platforms/nuttx/src/px4/common/px4_nuttx_impl.cpp
+++ b/platforms/nuttx/src/px4/common/px4_nuttx_impl.cpp
@@ -38,7 +38,6 @@
  */
 
 #include <px4_defines.h>
-#include <px4_middleware.h>
 #include <drivers/drv_hrt.h>
 
 namespace px4
@@ -49,9 +48,4 @@ void init(int argc, char *argv[], const char *process_name)
 	printf("process: %s\n", process_name);
 }
 
-uint64_t get_time_micros()
-{
-	return hrt_absolute_time();
-}
-
 }
diff --git a/platforms/posix/src/px4/common/main.cpp b/platforms/posix/src/px4/common/main.cpp
index 21763ae2afa4..016969031a22 100644
--- a/platforms/posix/src/px4/common/main.cpp
+++ b/platforms/posix/src/px4/common/main.cpp
@@ -64,14 +64,13 @@
 
 #include <px4_time.h>
 #include <px4_log.h>
+#include <px4_init.h>
 #include <px4_getopt.h>
 #include <px4_tasks.h>
 #include <px4_posix.h>
 
 #include "apps.h"
-#include "px4_middleware.h"
 #include "DriverFramework.hpp"
-#include "px4_middleware.h"
 #include "px4_daemon/client.h"
 #include "px4_daemon/server.h"
 #include "px4_daemon/pxh.h"
diff --git a/platforms/posix/src/px4/common/px4_posix_impl.cpp b/platforms/posix/src/px4/common/px4_posix_impl.cpp
index 9c1cf6504214..3b31c6169869 100644
--- a/platforms/posix/src/px4/common/px4_posix_impl.cpp
+++ b/platforms/posix/src/px4/common/px4_posix_impl.cpp
@@ -38,7 +38,6 @@
  */
 
 #include <px4_defines.h>
-#include <px4_middleware.h>
 #include <px4_workqueue.h>
 #include <px4_defines.h>
 #include <stdint.h>
@@ -98,10 +97,5 @@ void init(int argc, char *argv[], const char *app_name)
 #endif
 }
 
-uint64_t get_time_micros()
-{
-	return hrt_absolute_time();
-}
-
 }
 
diff --git a/platforms/posix/src/px4/common/px4_sem.cpp b/platforms/posix/src/px4/common/px4_sem.cpp
index e579c9222f64..d303f8e66ce1 100644
--- a/platforms/posix/src/px4/common/px4_sem.cpp
+++ b/platforms/posix/src/px4/common/px4_sem.cpp
@@ -38,7 +38,6 @@
  */
 
 #include <px4_defines.h>
-#include <px4_middleware.h>
 #include <px4_workqueue.h>
 #include <px4_time.h>
 #include <stdint.h>
diff --git a/platforms/qurt/src/px4/common/main.cpp b/platforms/qurt/src/px4/common/main.cpp
index 2fe6b57aac50..8f2aac9323ea 100644
--- a/platforms/qurt/src/px4/common/main.cpp
+++ b/platforms/qurt/src/px4/common/main.cpp
@@ -38,10 +38,10 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
-#include <px4_middleware.h>
 #include <px4_tasks.h>
 #include <px4_time.h>
 #include <px4_posix.h>
+#include <px4_init.h>
 #include <px4_defines.h>
 #include <dspal_platform.h>
 #include <vector>
diff --git a/platforms/qurt/src/px4/common/px4_qurt_impl.cpp b/platforms/qurt/src/px4/common/px4_qurt_impl.cpp
index 699f0c9ee506..41e5c6556690 100644
--- a/platforms/qurt/src/px4/common/px4_qurt_impl.cpp
+++ b/platforms/qurt/src/px4/common/px4_qurt_impl.cpp
@@ -39,7 +39,6 @@
 
 #include <px4_defines.h>
 #include <px4_tasks.h>
-#include <px4_middleware.h>
 #include <px4_workqueue.h>
 #include <dataman/dataman.h>
 #include <stdint.h>
diff --git a/src/drivers/pwm_out_sim/PWMSim.hpp b/src/drivers/pwm_out_sim/PWMSim.hpp
index a8d9ec7ecf01..81d26e8b63ab 100644
--- a/src/drivers/pwm_out_sim/PWMSim.hpp
+++ b/src/drivers/pwm_out_sim/PWMSim.hpp
@@ -41,7 +41,6 @@
 #include <drivers/drv_pwm_output.h>
 #include <lib/mixer/mixer.h>
 #include <perf/perf_counter.h>
-#include <px4_common.h>
 #include <px4_config.h>
 #include <px4_module.h>
 #include <px4_tasks.h>
diff --git a/src/drivers/qshell/qurt/qshell.cpp b/src/drivers/qshell/qurt/qshell.cpp
index d159be1bc811..9a7c55417ac6 100644
--- a/src/drivers/qshell/qurt/qshell.cpp
+++ b/src/drivers/qshell/qurt/qshell.cpp
@@ -43,7 +43,6 @@
 #include <px4_log.h>
 #include <px4_time.h>
 #include <px4_posix.h>
-#include <px4_middleware.h>
 #include <px4_defines.h>
 #include <dspal_platform.h>
 
diff --git a/src/drivers/qshell/qurt/qshell_main.cpp b/src/drivers/qshell/qurt/qshell_main.cpp
index 95da6bbbb764..ecf966f1aba8 100644
--- a/src/drivers/qshell/qurt/qshell_main.cpp
+++ b/src/drivers/qshell/qurt/qshell_main.cpp
@@ -38,9 +38,9 @@
  * @author Nicolas de Palezieux <ndepal@gmail.com>
  */
 
-#include <px4_middleware.h>
 #include <px4_log.h>
 #include <px4_app.h>
+#include <px4_init.h>
 #include "qshell.h"
 
 extern "C" __EXPORT int qshell_entry(int argc, char **argv);
diff --git a/src/drivers/qurt/tests/hello/hello_main.cpp b/src/drivers/qurt/tests/hello/hello_main.cpp
index 35e72e8b364d..e8ed25bab8d5 100644
--- a/src/drivers/qurt/tests/hello/hello_main.cpp
+++ b/src/drivers/qurt/tests/hello/hello_main.cpp
@@ -37,9 +37,9 @@
  *
  * @author Mark Charlebois <charlebm@gmail.com>
  */
-#include <px4_middleware.h>
 #include <px4_log.h>
 #include <px4_app.h>
+#include <px4_init.h>
 #include "hello_example.h"
 #include <stdio.h>
 
diff --git a/src/drivers/qurt/tests/muorb/muorb_test_main.cpp b/src/drivers/qurt/tests/muorb/muorb_test_main.cpp
index c6818a9270fb..fc172f7a909c 100644
--- a/src/drivers/qurt/tests/muorb/muorb_test_main.cpp
+++ b/src/drivers/qurt/tests/muorb/muorb_test_main.cpp
@@ -37,9 +37,9 @@
  *
  * @author Mark Charlebois <charlebm@gmail.com>
  */
-#include <px4_middleware.h>
 #include <px4_log.h>
 #include <px4_app.h>
+#include <px4_init.h>
 #include "muorb_test_example.h"
 
 extern "C" __EXPORT int muorb_test_entry(int argc, char **argv);
diff --git a/src/drivers/qurt/tests/muorb/muorb_test_start_qurt.cpp b/src/drivers/qurt/tests/muorb/muorb_test_start_qurt.cpp
index ba44169ec3a0..0eef795ca34f 100644
--- a/src/drivers/qurt/tests/muorb/muorb_test_start_qurt.cpp
+++ b/src/drivers/qurt/tests/muorb/muorb_test_start_qurt.cpp
@@ -39,6 +39,7 @@
 #include "muorb_test_example.h"
 #include <px4_log.h>
 #include <px4_app.h>
+#include <px4_init.h>
 #include <px4_tasks.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/examples/hello/hello_main.cpp b/src/examples/hello/hello_main.cpp
index 75bff11cd167..227bc0ebc52d 100644
--- a/src/examples/hello/hello_main.cpp
+++ b/src/examples/hello/hello_main.cpp
@@ -40,8 +40,8 @@
 
 #include "hello_example.h"
 
-#include <px4_middleware.h>
 #include <px4_app.h>
+#include <px4_init.h>
 #include <stdio.h>
 
 int PX4_MAIN(int argc, char **argv)
diff --git a/src/lib/cdev/test/cdevtest_main.cpp b/src/lib/cdev/test/cdevtest_main.cpp
index cf4c05a42d39..e642e80b9e9e 100644
--- a/src/lib/cdev/test/cdevtest_main.cpp
+++ b/src/lib/cdev/test/cdevtest_main.cpp
@@ -39,8 +39,8 @@
  */
 #include "cdevtest_example.h"
 
-#include <px4_middleware.h>
 #include <px4_app.h>
+#include <px4_init.h>
 #include <stdio.h>
 
 int PX4_MAIN(int argc, char **argv)
diff --git a/src/modules/muorb/adsp/px4muorb.cpp b/src/modules/muorb/adsp/px4muorb.cpp
index 6b27cb742f6b..b791ebb9830c 100644
--- a/src/modules/muorb/adsp/px4muorb.cpp
+++ b/src/modules/muorb/adsp/px4muorb.cpp
@@ -35,7 +35,6 @@
 #include "uORBFastRpcChannel.hpp"
 #include "uORBManager.hpp"
 
-#include <px4_middleware.h>
 #include <px4_tasks.h>
 #include <px4_posix.h>
 #include <dspal_platform.h>
diff --git a/src/modules/muorb/test/muorb_test_main.cpp b/src/modules/muorb/test/muorb_test_main.cpp
index 2d83e8e20174..995cc49da1f1 100644
--- a/src/modules/muorb/test/muorb_test_main.cpp
+++ b/src/modules/muorb/test/muorb_test_main.cpp
@@ -37,9 +37,9 @@
  *
  * @author Mark Charlebois <charlebm@gmail.com>
  */
-#include <px4_middleware.h>
 #include <px4_log.h>
 #include <px4_app.h>
+#include <px4_init.h>
 #include "muorb_test_example.h"
 #include <stdio.h>
 #include "uORB/uORBManager.hpp"
diff --git a/src/platforms/px4_common.h b/src/platforms/px4_common.h
deleted file mode 100644
index 384b1bca656b..000000000000
--- a/src/platforms/px4_common.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#pragma once
-
-#ifdef __PX4_QURT
-#include <types.h>
-size_t strnlen(const char *s, size_t maxlen);
-
-#endif
diff --git a/src/platforms/px4_init.h b/src/platforms/px4_init.h
index 77cebfadf45d..a0bf68a1d291 100644
--- a/src/platforms/px4_init.h
+++ b/src/platforms/px4_init.h
@@ -36,3 +36,19 @@ __BEGIN_DECLS
 int px4_platform_init(void);
 
 __END_DECLS
+
+#ifdef __cplusplus
+
+namespace px4
+{
+
+/**
+ * Startup init method. It has no specific functionality, just prints a welcome
+ * message and sets the thread name
+ */
+__EXPORT void init(int argc, char *argv[], const char *process_name);
+
+} // namespace px4
+
+#endif /* __cplusplus */
+
diff --git a/src/platforms/px4_middleware.h b/src/platforms/px4_middleware.h
deleted file mode 100644
index 393074848799..000000000000
--- a/src/platforms/px4_middleware.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2014 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
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file px4_middleware.h
- *
- * PX4 generic middleware wrapper
- */
-
-#pragma once
-
-#include <stdint.h>
-#include <unistd.h>
-
-namespace px4
-{
-
-__EXPORT void init(int argc, char *argv[], const char *process_name);
-
-__EXPORT uint64_t get_time_micros();
-
-#if defined(__PX4_NUTTX)
-extern bool task_should_exit;
-/**
- * Returns true if the app/task should continue to run
- */
-__EXPORT inline bool ok() { return !task_should_exit; }
-#elif defined(__PX4_QURT)
-// FIXME - usleep not supported by DSPAL
-inline void usleep(uint64_t sleep_interval) { }
-#else
-/**
- * Linux needs to have globally unique checks for thread/task status
- */
-#endif
-
-} // namespace px4
diff --git a/src/systemcmds/tests/hrt_test/hrt_test_main.cpp b/src/systemcmds/tests/hrt_test/hrt_test_main.cpp
index d90cffba4093..3509142d2448 100644
--- a/src/systemcmds/tests/hrt_test/hrt_test_main.cpp
+++ b/src/systemcmds/tests/hrt_test/hrt_test_main.cpp
@@ -42,8 +42,8 @@
 
 #include <stdio.h>
 
-#include <px4_middleware.h>
 #include <px4_app.h>
+#include <px4_init.h>
 
 int PX4_MAIN(int argc, char **argv)
 {
diff --git a/src/systemcmds/topic_listener/generate_listener.py b/src/systemcmds/topic_listener/generate_listener.py
index 8b7ca12344b6..d0f7adf5763a 100755
--- a/src/systemcmds/topic_listener/generate_listener.py
+++ b/src/systemcmds/topic_listener/generate_listener.py
@@ -89,7 +89,6 @@
  */
 
 #include <drivers/drv_hrt.h>
-#include <px4_middleware.h>
 #include <px4_app.h>
 #include <px4_config.h>
 #include <px4_log.h>
diff --git a/src/systemcmds/topic_listener/topic_listener.hpp b/src/systemcmds/topic_listener/topic_listener.hpp
index ce856bd8e80b..be1b94077214 100644
--- a/src/systemcmds/topic_listener/topic_listener.hpp
+++ b/src/systemcmds/topic_listener/topic_listener.hpp
@@ -40,7 +40,6 @@
 
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
-#include <px4_middleware.h>
 #include <px4_app.h>
 #include <px4_config.h>
 #include <px4_log.h>