Use OS independent API for task creation/deletion

Calls to task_delete and task_spawn_cmd are now
px4_task_delete and px4_task_spawn_cmd respectively.

The px4_tasks.h header was added to the affected files
and incusions of nuttx/config.h were removed.

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

9 files changed, 23 insertions, 23 deletions

diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 714c80ded..b727c5540 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -51,7 +51,7 @@
 #include <math.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <nuttx/arch.h>
 #include <arch/board/board.h>
 #include <drivers/drv_hrt.h>
@@ -213,7 +213,7 @@ GPS::~GPS()
 
 	/* well, kill it anyway, though this will probably crash */
 	if (_task != -1)
-		task_delete(_task);
+		px4_task_delete(_task);
 
 	g_dev = nullptr;
 
@@ -229,7 +229,7 @@ GPS::init()
 		goto out;
 
 	/* start the GPS driver worker task */
-	_task = task_spawn_cmd("gps", SCHED_DEFAULT,
+	_task = px4_task_spawn_cmd("gps", SCHED_DEFAULT,
 				SCHED_PRIORITY_SLOW_DRIVER, 1500, (main_t)&GPS::task_main_trampoline, nullptr);
 
 	if (_task < 0) {
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index 961ec4724..a82dec8ac 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -48,7 +48,7 @@
  * driver. Use instead the normal FMU or IO driver.
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -188,7 +188,7 @@ HIL::~HIL()
 
 			/* if we have given up, kill it */
 			if (--i == 0) {
-				task_delete(_task);
+				px4_task_delete(_task);
 				break;
 			}
 
@@ -228,7 +228,7 @@ HIL::init()
 	// gpio_reset();
 
 	/* start the HIL interface task */
-	_task = task_spawn_cmd("fmuhil",
+	_task = px4_task_spawn_cmd("fmuhil",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
 			   1200,
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index 4ac7e4bdf..e5bbc41d1 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -42,7 +42,7 @@
  */
 
 #include <fcntl.h>
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -209,7 +209,7 @@ hott_sensors_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd(daemon_name,
+		deamon_task = px4_task_spawn_cmd(daemon_name,
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_DEFAULT,
 					     1024,
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index 43df0cb8c..841f3ed1a 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -44,7 +44,7 @@
  */
 
 #include <fcntl.h>
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -235,7 +235,7 @@ hott_telemetry_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd(daemon_name,
+		deamon_task = px4_task_spawn_cmd(daemon_name,
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT,
 					 2048,
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index d25d16fa1..7bcc1c9d6 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -44,7 +44,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -110,7 +110,7 @@ int md25_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("md25",
+		deamon_task = px4_task_spawn_cmd("md25",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 3b8c4ee77..bf017103c 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -41,7 +41,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <drivers/device/i2c.h>
 #include <systemlib/param/param.h>
 
@@ -258,7 +258,7 @@ MK::~MK()
 
 			/* if we have given up, kill it */
 			if (--i == 0) {
-				task_delete(_task);
+				px4_task_delete(_task);
 				break;
 			}
 
@@ -302,7 +302,7 @@ MK::init(unsigned motors)
 	}
 
 	/* start the IO interface task */
-	_task = task_spawn_cmd("mkblctrl",
+	_task = px4_task_spawn_cmd("mkblctrl",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_MAX - 20,
 			       1500,
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 92afc7cd7..f36a07b04 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -37,7 +37,7 @@
  * Driver/configurator for the PX4 FMU multi-purpose port on v1 and v2 boards.
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -302,7 +302,7 @@ PX4FMU::~PX4FMU()
 
 			/* if we have given up, kill it */
 			if (--i == 0) {
-				task_delete(_task);
+				px4_task_delete(_task);
 				break;
 			}
 
@@ -341,7 +341,7 @@ PX4FMU::init()
 	gpio_reset();
 
 	/* start the IO interface task */
-	_task = task_spawn_cmd("fmuservo",
+	_task = px4_task_spawn_cmd("fmuservo",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_DEFAULT,
 			       1600,
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 33125699f..9fe69113b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -38,7 +38,7 @@
  * PX4IO is connected via I2C or DMA enabled high-speed UART.
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -550,7 +550,7 @@ PX4IO::~PX4IO()
 
 	/* well, kill it anyway, though this will probably crash */
 	if (_task != -1)
-		task_delete(_task);
+		px4_task_delete(_task);
 
 	if (_interface != nullptr)
 		delete _interface;
@@ -841,7 +841,7 @@ PX4IO::init()
 	}
 
 	/* start the IO interface task */
-	_task = task_spawn_cmd("px4io",
+	_task = px4_task_spawn_cmd("px4io",
 					SCHED_DEFAULT,
 					SCHED_PRIORITY_ACTUATOR_OUTPUTS,
 					1800,
diff --git a/src/drivers/roboclaw/roboclaw_main.cpp b/src/drivers/roboclaw/roboclaw_main.cpp
index ea7178076..198e2f0c1 100644
--- a/src/drivers/roboclaw/roboclaw_main.cpp
+++ b/src/drivers/roboclaw/roboclaw_main.cpp
@@ -43,7 +43,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -105,7 +105,7 @@ int roboclaw_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("roboclaw",
+		deamon_task = px4_task_spawn_cmd("roboclaw",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,