cmake: fixes for apps.h generation for posix and qurt

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

cmake/posix/apps.h_in

@@ -22,9 +22,10 @@ static int list_topics_main(int argc, char *argv[]);
 static int sleep_main(int argc, char *argv[]);
 }
 
-
-void init_app_map(map<string,px4_main_t> &apps)
+static map<string,px4_main_t> app_map(void)
 {
+        static map<string,px4_main_t> apps;
+
 ${builtin_apps_string}
 	apps["shutdown"] = shutdown_main;
 	apps["list_tasks"] = list_tasks_main;
@@ -32,13 +33,17 @@ ${builtin_apps_string}
 	apps["list_devices"] = list_devices_main;
 	apps["list_topics"] = list_topics_main;
 	apps["sleep"] = sleep_main;
+
+	return apps;
 }
 
-void list_builtins(map<string,px4_main_t> &apps)
+map<string,px4_main_t> apps = app_map();
+
+static void list_builtins(void)
 {
-	printf("Builtin Commands:\\n");
+	cout << "Builtin Commands:" << endl;
 	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
-		printf("\\t%s\\n", (it->first).c_str());
+		cout << '\t' << it->first << endl;
 }
 
 static int shutdown_main(int argc, char *argv[])
@@ -64,21 +69,20 @@ static int list_topics_main(int argc, char *argv[])
 	px4_show_topics();
 	return 0;
 }
+
 static int list_files_main(int argc, char *argv[])
 {
 	px4_show_files();
 	return 0;
 }
+
 static int sleep_main(int argc, char *argv[])
 {
-        if (argc != 2) {
-           PX4_WARN( "Usage: sleep <seconds>" );
-           return 1;
-        }
-
-        unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
-        PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
-        usleep( usecs );
-        return 0;
+	if (argc != 2) {
+		cout << "Usage: sleep <seconds>" << endl;
+		return 1;
+	}
+	sleep(atoi(argv[1]));
+	return 0;
 }
 

cmake/posix/px4_impl_posix.cmake

@@ -102,7 +102,7 @@ function(px4_posix_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/builtin_commands.cpp_in
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
 		${OUT})
 endfunction()
 

cmake/qurt/px4_impl_qurt.cmake

@@ -104,7 +104,7 @@ function(px4_qurt_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/builtin_commands.cpp_in
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in
 		${OUT})
 endfunction()
 

src/firmware/posix/CMakeLists.txt

@@ -7,8 +7,8 @@ message(STATUS "module list: ${module_dir_list}")
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-add_custom_command(OUTPUT apps.h
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/posix_apps.py > apps.h)
+#add_custom_command(OUTPUT apps.h
+#	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/posix_apps.py > apps.h)
 
 foreach(directory ${module_dir_list})
 	message(STATUS "directory: ${directory}")
@@ -17,13 +17,13 @@ foreach(directory ${module_dir_list})
 		${mangled_name})
 endforeach()
 px4_posix_generate_builtin_commands(
-	OUT builtin_commands.cpp
+	OUT apps.h
 	MODULE_LIST ${module_list})
 
 add_executable(mainapp
 	${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
 	apps.h
-	builtin_commands.cpp)
+	)
 
 set(main_link_flags
 	"-T${CMAKE_SOURCE_DIR}/cmake/posix/ld.script"

src/firmware/qurt/CMakeLists.txt

@@ -16,7 +16,7 @@ foreach(directory ${module_dir_list})
 		${mangled_name})
 endforeach()
 px4_qurt_generate_builtin_commands(
-	OUT builtin_commands.cpp
+	OUT apps.h
 	MODULE_LIST ${module_list})
 
 # FIXME @jgoppert - how to work around issues like this?
@@ -25,7 +25,10 @@ px4_qurt_generate_builtin_commands(
 set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
 
-add_library(mainapp builtin_commands.cpp)
+add_library(mainapp 
+	${CMAKE_SOURCE_DIR}/src/platforms/qurt/px4_layer/main.cpp
+	apps.h)
+
 target_link_libraries(mainapp
 	-Wl,--whole-archive
 	${module_list}