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Removed extra abstracton layer in systemlib

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The calls to task_spawn_cmd, kill_all, and systemreset  were wrappers
around the px4_{task_spawn_cmd|kill_all|systemreset} implementations.

Removed the wrappers and changed all calls to the px4_ equivalents.

NuttX specific code was moved into px4_tasks.h

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-05-06 14:43:11 -07:00
parent 3654aec3a5
commit c5237f7f6f
38 changed files with 55 additions and 65 deletions
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2
src/modules/uavcan/uavcan_main.cpp
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@@ -194,7 +194,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* Start the task. Normally it should never exit.
*/
static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
_instance->_task = px4_task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
static_cast<main_t>(run_trampoline), nullptr);
if (_instance->_task < 0) {