sitl: fix NuttX 12.12.0 upgrade regressions

PetervdPerk-NXP · PetervdPerk-NXP · commit f6d73d0bacd2 · 2026-01-05T20:09:25.000+01:00
diff --git a/platforms/common/include/px4_platform_common/workqueue.h b/platforms/common/include/px4_platform_common/workqueue.h
@@ -42,7 +42,7 @@
 #elif defined(__PX4_POSIX)
 
 #include <stdint.h>
-#include <sys/queue.h>
+#include <queue.h>
 #include <sys/types.h>
 
 __BEGIN_DECLS
diff --git a/platforms/common/work_queue/dq_addlast.c b/platforms/common/work_queue/dq_addlast.c
@@ -42,7 +42,11 @@
  ************************************************************/
 
 #include <stddef.h>
+#if defined(__PX4_NUTTX)
 #include <sys/queue.h>
+#elif defined(__PX4_POSIX)
+#include <queue.h>
+#endif
 
 /************************************************************
  * Public Functions
diff --git a/platforms/common/work_queue/dq_rem.c b/platforms/common/work_queue/dq_rem.c
@@ -42,7 +42,11 @@
  ************************************************************/
 
 #include <stddef.h>
+#if defined(__PX4_NUTTX)
 #include <sys/queue.h>
+#elif defined(__PX4_POSIX)
+#include <queue.h>
+#endif
 
 /************************************************************
  * Public Functions
diff --git a/platforms/common/work_queue/dq_remfirst.c b/platforms/common/work_queue/dq_remfirst.c
@@ -42,7 +42,11 @@
  ************************************************************/
 
 #include <stddef.h>
+#if defined(__PX4_NUTTX)
 #include <sys/queue.h>
+#elif defined(__PX4_POSIX)
+#include <queue.h>
+#endif
 
 /************************************************************
  * Public Functions
diff --git a/platforms/common/work_queue/queue.c b/platforms/common/work_queue/queue.c
@@ -35,7 +35,11 @@
  ************************************************************************/
 
 // FIXME - need px4_queue
+#if defined(__PX4_NUTTX)
 #include <sys/queue.h>
+#elif defined(__PX4_POSIX)
+#include <queue.h>
+#endif
 #include <stddef.h>
 
 void sq_rem(sq_entry_t *node, sq_queue_t *queue)
diff --git a/platforms/common/work_queue/sq_addafter.c b/platforms/common/work_queue/sq_addafter.c
@@ -41,7 +41,11 @@
  * Included Files
  ************************************************************/
 
+#if defined(__PX4_NUTTX)
 #include <sys/queue.h>
+#elif defined(__PX4_POSIX)
+#include <queue.h>
+#endif
 
 /************************************************************
  * Public Functions
diff --git a/platforms/common/work_queue/sq_addlast.c b/platforms/common/work_queue/sq_addlast.c
@@ -42,7 +42,11 @@
  ************************************************************/
 
 #include <stddef.h>
+#if defined(__PX4_NUTTX)
 #include <sys/queue.h>
+#elif defined(__PX4_POSIX)
+#include <queue.h>
+#endif
 
 /************************************************************
  * Public Functions
diff --git a/platforms/common/work_queue/sq_remfirst.c b/platforms/common/work_queue/sq_remfirst.c
@@ -42,7 +42,11 @@
  ************************************************************/
 
 #include <stddef.h>
+#if defined(__PX4_NUTTX)
 #include <sys/queue.h>
+#elif defined(__PX4_POSIX)
+#include <queue.h>
+#endif
 
 /************************************************************
  * Public Functions
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
@@ -45,7 +45,11 @@
 #include <inttypes.h>
 
 #include <px4_platform_common/time.h>
+#if defined(__PX4_NUTTX)
 #include <sys/queue.h>
+#else
+#include <queue.h>
+#endif
 
 #if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
 #include <px4_platform/board_ctrl.h>
diff --git a/src/lib/cdev/CDev.cpp b/src/lib/cdev/CDev.cpp
@@ -288,10 +288,20 @@ CDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 			fds->revents |= fds->events & poll_state(filep);
 
 			/* yes? invoke the callback */
+#ifdef __PX4_NUTTX
+
 			if (fds->revents != 0 && fds->cb != nullptr) {
 				fds->cb(fds);
 			}
 
+#else
+
+			if (fds->revents != 0) {
+				px4_sem_post(fds->sem);
+			}
+
+#endif
+
 		}
 
 		ATOMIC_LEAVE;
@@ -335,9 +345,19 @@ CDev::poll_notify_one(px4_pollfd_struct_t *fds, px4_pollevent_t events)
 
 	PX4_DEBUG(" Events fds=%p %0x %0x %0x", fds, fds->revents, fds->events, events);
 
+#ifdef __PX4_NUTTX
+
 	if (fds->revents != 0 && fds->cb != nullptr) {
 		fds->cb(fds);
 	}
+
+#else
+
+	if (fds->revents != 0) {
+		px4_sem_post(fds->sem);
+	}
+
+#endif
 }
 
 int
diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
@@ -47,7 +47,11 @@
 #include <parameters/px4_parameters.hpp>
 #include <lib/tinybson/tinybson.h>
 
+#if defined(__PX4_NUTTX)
 #include <nuttx/crc32.h>
+#else
+#include <crc32.h>
+#endif
 #include <float.h>
 #include <math.h>
 
diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
@@ -34,7 +34,11 @@
 /// @file mavlink_ftp.cpp
 ///	@author px4dev, Don Gagne <don@thegagnes.com>
 
+#if defined(__PX4_NUTTX)
 #include <nuttx/crc32.h>
+#else
+#include <crc32.h>
+#endif
 #include <unistd.h>
 #include <stdio.h>
 #include <fcntl.h>
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
@@ -53,7 +53,11 @@
 #include <navigator/navigation.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
+#if defined(__PX4_NUTTX)
 #include <nuttx/crc32.h>
+#else
+#include <crc32.h>
+#endif
 
 using matrix::wrap_2pi;
 
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
@@ -35,7 +35,11 @@
 ///	@author Don Gagne <don@thegagnes.com>
 
 #include <sys/stat.h>
+#if defined(__PX4_NUTTX)
 #include <nuttx/crc32.h>
+#else
+#include <crc32.h>
+#endif
 #include <stdio.h>
 #include <fcntl.h>
 
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
@@ -43,7 +43,11 @@
 #include "navigation.h"
 
 #include <ctype.h>
+#if defined(__PX4_NUTTX)
 #include <nuttx/crc32.h>
+#else
+#include <crc32.h>
+#endif
 
 #include <dataman_client/DatamanClient.hpp>
 #include <drivers/drv_hrt.h>
diff --git a/src/modules/uxrce_dds_client/CMakeLists.txt b/src/modules/uxrce_dds_client/CMakeLists.txt
@@ -62,6 +62,10 @@ else()
 		set(lib_dir "lib")
 	endif()
 
+	if(PX4_PLATFORM STREQUAL "nuttx")
+		set(c_flags_with_includes "${c_flags_with_includes} -Wno-cast-align -D__PX4_NUTTX")
+	endif()
+
 	include(ExternalProject)
 	ExternalProject_Add(
 		libmicroxrceddsclient_project
diff --git a/src/modules/zenoh/Kconfig.topics b/src/modules/zenoh/Kconfig.topics
@@ -133,6 +133,10 @@ menu "Zenoh publishers/subscribers"
 		bool "debug_vect"
 		default n
 
+	config ZENOH_PUBSUB_DEVICE_INFORMATION
+		bool "device_information"
+		default n
+
 	config ZENOH_PUBSUB_DIFFERENTIAL_PRESSURE
 		bool "differential_pressure"
 		default n
@@ -269,6 +273,10 @@ menu "Zenoh publishers/subscribers"
 		bool "fuel_tank_status"
 		default n
 
+	config ZENOH_PUBSUB_GAIN_COMPRESSION
+		bool "gain_compression"
+		default n
+
 	config ZENOH_PUBSUB_GENERATOR_STATUS
 		bool "generator_status"
 		default n
@@ -983,6 +991,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_DEBUG_KEY_VALUE
 	select ZENOH_PUBSUB_DEBUG_VALUE
 	select ZENOH_PUBSUB_DEBUG_VECT
+	select ZENOH_PUBSUB_DEVICE_INFORMATION
 	select ZENOH_PUBSUB_DIFFERENTIAL_PRESSURE
 	select ZENOH_PUBSUB_DISTANCE_SENSOR
 	select ZENOH_PUBSUB_DISTANCE_SENSOR_MODE_CHANGE_REQUEST
@@ -1017,6 +1026,7 @@ config ZENOH_PUBSUB_ALL_SELECTION
 	select ZENOH_PUBSUB_FOLLOW_TARGET_ESTIMATOR
 	select ZENOH_PUBSUB_FOLLOW_TARGET_STATUS
 	select ZENOH_PUBSUB_FUEL_TANK_STATUS
+	select ZENOH_PUBSUB_GAIN_COMPRESSION
 	select ZENOH_PUBSUB_GENERATOR_STATUS
 	select ZENOH_PUBSUB_GEOFENCE_RESULT
 	select ZENOH_PUBSUB_GEOFENCE_STATUS
