Nuttx: fixed missing changes from AppMgr to AppState

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

9 files changed, 38 insertions, 22 deletions

diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp
index 4fddd072e..7ce153312 100644
--- a/src/examples/publisher/publisher_example.cpp
+++ b/src/examples/publisher/publisher_example.cpp
@@ -44,7 +44,7 @@
 using namespace px4;
 
 PublisherExample::PublisherExample() :
-	_n(mgr),
+	_n(appState),
 	_rc_channels_pub(_n.advertise<px4_rc_channels>()),
 	_v_att_pub(_n.advertise<px4_vehicle_attitude>()),
 	_parameter_update_pub(_n.advertise<px4_parameter_update>())
@@ -55,7 +55,7 @@ int PublisherExample::main()
 {
 	px4::Rate loop_rate(10);
 
-	while (!mgr.exitRequested()) {
+	while (!appState.exitRequested()) {
 		loop_rate.sleep();
 		_n.spinOnce();
 
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
index 8b0d806bd..284132073 100644
--- a/src/examples/publisher/publisher_example.h
+++ b/src/examples/publisher/publisher_example.h
@@ -50,7 +50,7 @@ public:
 
 	int main();
 
-	static px4::AppMgr mgr;
+	static px4::AppState appState;
 protected:
 	px4::NodeHandle _n;
 	px4::Publisher<px4::px4_rc_channels> *_rc_channels_pub;
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp
index 91fb131f3..ae58f634c 100644
--- a/src/examples/subscriber/subscriber_example.cpp
+++ b/src/examples/subscriber/subscriber_example.cpp
@@ -49,7 +49,7 @@ void rc_channels_callback_function(const px4_rc_channels &msg)
 }
 
 SubscriberExample::SubscriberExample() :
-	_n(_mgr),
+	_n(_appState),
 	_p_sub_interv("SUB_INTERV", PARAM_SUB_INTERV_DEFAULT),
 	_p_test_float("SUB_TESTF", PARAM_SUB_TESTF_DEFAULT)
 {
diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h
index 8003525dd..4fdd23636 100644
--- a/src/examples/subscriber/subscriber_example.h
+++ b/src/examples/subscriber/subscriber_example.h
@@ -58,7 +58,7 @@ protected:
 	px4::ParameterFloat _p_test_float;
 	px4::Subscriber<px4_rc_channels> *_sub_rc_chan;
 
-	AppMgr _mgr;
+	AppState _appState;
 
 	void rc_channels_callback(const px4_rc_channels &msg);
 	void vehicle_attitude_callback(const px4_vehicle_attitude &msg);
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c
index c3b4ab8d4..9b64b8baa 100644
--- a/src/modules/dataman/dataman.c
+++ b/src/modules/dataman/dataman.c
@@ -40,7 +40,7 @@
  * @author Thomas Gubler
  */
 
-#include <px4_config.h>
+#include <px4_platform.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <fcntl.h>
@@ -129,7 +129,12 @@ static sem_t g_sys_state_mutex;
 
 /* The data manager store file handle and file name */
 static int g_fd = -1, g_task_fd = -1;
+// FIXME - need a configurable path that is not OS specific
+#ifdef __PX4_NUTTX
 static const char *k_data_manager_device_path = "/fs/microsd/dataman";
+#else
+static const char *k_data_manager_device_path = "/tmp/dataman";
+#endif
 
 /* The data manager work queues */
 
@@ -668,7 +673,7 @@ task_main(int argc, char *argv[])
 	}
 
 	/* Open or create the data manager file */
-	g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY);
+	g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY, 0x0777);
 
 	if (g_task_fd < 0) {
 		warnx("Could not open data manager file %s", k_data_manager_device_path);
@@ -827,31 +832,40 @@ stop(void)
 static void
 usage(void)
 {
-	errx(1, "usage: dataman {start|stop|status|poweronrestart|inflightrestart}");
+	warnx("usage: dataman {start|stop|status|poweronrestart|inflightrestart}");
 }
 
 int
 dataman_main(int argc, char *argv[])
 {
-	if (argc < 2)
+	if (argc < 2) {
 		usage();
+		return -1;
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (g_fd >= 0)
-			errx(1, "already running");
+		if (g_fd >= 0) {
+			warnx("dataman already running");
+			return -1;
+		}
 
 		start();
 
-		if (g_fd < 0)
-			errx(1, "start failed");
+		if (g_fd < 0) {
+			warnx("dataman start failed");
+			return -1;
+		}
 
-		exit(0);
+		return 0;
 	}
 
 	/* Worker thread should be running for all other commands */
-	if (g_fd < 0)
-		errx(1, "not running");
+	if (g_fd < 0) {
+		warnx("dataman worker thread not running");
+		usage();
+		return -1;
+	}
 
 	if (!strcmp(argv[1], "stop"))
 		stop();
@@ -861,8 +875,10 @@ dataman_main(int argc, char *argv[])
 		dm_restart(DM_INIT_REASON_POWER_ON);
 	else if (!strcmp(argv[1], "inflightrestart"))
 		dm_restart(DM_INIT_REASON_IN_FLIGHT);
-	else
+	else {
 		usage();
+		return -1;
+	}
 
-	exit(1);
+	return 1;
 }
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
index 34859071f..e478a92e9 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
@@ -71,7 +71,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_att_sp_pub(nullptr),
 	_v_rates_sp_pub(nullptr),
 	_actuators_0_pub(nullptr),
-	_n(_mgr),
+	_n(_appState),
 
 	/* parameters */
 	_params_handles({
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.h b/src/modules/mc_att_control_multiplatform/mc_att_control.h
index 50f06d696..aab41f97b 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.h
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.h
@@ -94,7 +94,7 @@ private:
 
 	px4::NodeHandle _n;
 
-	px4::AppMgr _mgr;
+	px4::AppState _appState;
 
 	struct {
 		px4::ParameterFloat roll_p;
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
index 1fd86fd50..72ee21429 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
@@ -65,7 +65,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_local_pos_sp_msg(),
 	_global_vel_sp_msg(),
 
-	_n(_mgr),
+	_n(_appState),
 
 	/* parameters */
 	_params_handles({
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h
index 3c6f28050..4f786c429 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h
@@ -107,7 +107,7 @@ protected:
 
 	px4::NodeHandle _n;
 
-	px4::AppMgr _mgr;
+	px4::AppState _appState;
 
 	struct {
 		px4::ParameterFloat thr_min;