diff --git a/platforms/posix/include/px4_daemon/server_io.h b/platforms/posix/include/px4_daemon/server_io.h
index 88c417501dea2ec81065328017d40c6ad813028a..efeae545b8610ee53052989bdd409b3d5fd36c8d 100644
--- a/platforms/posix/include/px4_daemon/server_io.h
+++ b/platforms/posix/include/px4_daemon/server_io.h
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -33,11 +33,7 @@
/**
* @file server_io.h
*
- * These are helper functions to send the stdout over a pipe
- * back to the client.
- *
- * @author Julian Oes <julian@oes.ch>
- * @author Beat Küng <beat-kueng@gmx.net>
+ * @author Mara Bos <m-ou.se@m-ou.se>
*/
#pragma once
@@ -46,20 +42,11 @@
__BEGIN_DECLS
/**
- * Get the stdout pipe buffer in order to write to fill it.
+ * Get the stdout of the current thread.
*
- * @param buffer: pointer to buffer that will be set in function.
- * @param max_length: length of the assigned buffer.
- * @param is_atty: true if we are writing to a terminal (and can e.g. use colors).
- * @return 0 on success
+ * @param isatty_: if not NULL, *isatty_ will be set to wether the stream points to a terminal (true) or not (false).
+ * @return The FILE* which represents the standard output of the current thread.
*/
-__EXPORT int get_stdout_pipe_buffer(char **buffer, unsigned *max_length, bool *is_atty);
+__EXPORT FILE *get_stdout(bool *isatty_);
-/**
- * Write the filled bytes to the pipe.
- *
- * @param buffer_length: the number of bytes that should be written.
- * @return 0 on success
- */
-__EXPORT int send_stdout_pipe_buffer(unsigned buffer_length);
__END_DECLS
diff --git a/platforms/posix/src/px4_daemon/client.cpp b/platforms/posix/src/px4_daemon/client.cpp
index f6604b9566cbd5ae5e1f9391725061ac498cb0b6..6266489a5e8827e6d182694a2527c37f1c54073f 100644
--- a/platforms/posix/src/px4_daemon/client.cpp
+++ b/platforms/posix/src/px4_daemon/client.cpp
@@ -46,6 +46,7 @@
#include <sys/socket.h>
#include <sys/stat.h>
#include <sys/un.h>
+#include <unistd.h>
#include <string>
diff --git a/platforms/posix/src/px4_daemon/server.cpp b/platforms/posix/src/px4_daemon/server.cpp
index d327385507cdb276242dba3190ee3c1a146544e6..6df0507ccd85025bce03f761c9f6c951c8a88f24 100644
--- a/platforms/posix/src/px4_daemon/server.cpp
+++ b/platforms/posix/src/px4_daemon/server.cpp
@@ -40,6 +40,7 @@
#include <errno.h>
#include <fcntl.h>
+#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <string>
@@ -141,6 +142,10 @@ Server::_server_main()
// Watch the listening socket for incoming connections.
poll_fds.push_back(pollfd {_fd, POLLIN, 0});
+ // The list of FILE pointers that we'll need to fclose().
+ // stdouts[i] corresponds to poll_fds[i+1].
+ std::vector<FILE *> stdouts;
+
while (true) {
int n_ready = poll(poll_fds.data(), poll_fds.size(), -1);
@@ -162,22 +167,36 @@ Server::_server_main()
return;
}
- // Start a new thread to handle the client.
- pthread_t *thread = &_fd_to_thread[client];
- ret = pthread_create(thread, nullptr, Server::_handle_client, (void *)(intptr_t)client);
+ FILE *thread_stdout = fdopen(client, "w");
- if (ret != 0) {
- PX4_ERR("could not start pthread (%i)", ret);
- _fd_to_thread.erase(client);
+ if (thread_stdout == nullptr) {
+ PX4_ERR("could not open stdout for new thread");
close(client);
} else {
- // We won't join the thread, so detach to automatically release resources at its end
- pthread_detach(*thread);
- }
+ // Set stream to line buffered.
+ setvbuf(thread_stdout, nullptr, _IOLBF, BUFSIZ);
+
+ // Start a new thread to handle the client.
+ pthread_t *thread = &_fd_to_thread[client];
+ ret = pthread_create(thread, nullptr, Server::_handle_client, thread_stdout);
+
+ if (ret != 0) {
+ PX4_ERR("could not start pthread (%i)", ret);
+ _fd_to_thread.erase(client);
+ fclose(thread_stdout);
+
+ } else {
+ // We won't join the thread, so detach to automatically release resources at its end
+ pthread_detach(*thread);
- // Start listening for the client hanging up.
- poll_fds.push_back(pollfd {client, POLLHUP, 0});
+ // Start listening for the client hanging up.
+ poll_fds.push_back(pollfd {client, POLLHUP, 0});
+
+ // Remember the FILE *, so we can fclose() it later.
+ stdouts.push_back(thread_stdout);
+ }
+ }
}
// Handle any closed connections.
@@ -193,7 +212,8 @@ Server::_server_main()
_fd_to_thread.erase(thread);
}
- close(poll_fds[i].fd);
+ fclose(stdouts[i - 1]);
+ stdouts.erase(stdouts.begin() + i - 1);
poll_fds.erase(poll_fds.begin() + i);
} else {
@@ -210,7 +230,8 @@ Server::_server_main()
void
*Server::_handle_client(void *arg)
{
- int fd = (int)(intptr_t)arg;
+ FILE *out = (FILE *)arg;
+ int fd = fileno(out);
// Read until the end of the incoming stream.
std::string cmd;
@@ -247,7 +268,7 @@ void
if ((thread_data_ptr = (CmdThreadSpecificData *)pthread_getspecific(_instance->_key)) == nullptr) {
thread_data_ptr = new CmdThreadSpecificData;
- thread_data_ptr->fd = fd;
+ thread_data_ptr->thread_stdout = out;
thread_data_ptr->is_atty = isatty;
(void)pthread_setspecific(_instance->_key, (void *)thread_data_ptr);
@@ -259,10 +280,13 @@ void
// Report return value.
char buf[2] = {0, (char)retval};
- if (write(fd, buf, sizeof buf) < 0) {
+ if (fwrite(buf, sizeof buf, 1, out) != 1) {
// Don't care it went wrong, as we're cleaning up anyway.
}
+ // Flush the FILE*'s buffer before we shut down the connection.
+ fflush(out);
+
_cleanup(fd);
return nullptr;
}
diff --git a/platforms/posix/src/px4_daemon/server.h b/platforms/posix/src/px4_daemon/server.h
index 1ce8d0767595413dd2274e49f983ea58336d0682..2932a977ff29c0bcb8244c84f6dfc1b71740f4bc 100644
--- a/platforms/posix/src/px4_daemon/server.h
+++ b/platforms/posix/src/px4_daemon/server.h
@@ -49,6 +49,7 @@
*/
#pragma once
+#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <pthread.h>
@@ -75,9 +76,8 @@ public:
int start();
struct CmdThreadSpecificData {
- int fd; // fd to send stdout to
+ FILE *thread_stdout; // stdout of this thread
bool is_atty; // whether file descriptor refers to a terminal
- char buffer[1024];
};
static bool is_running()
diff --git a/platforms/posix/src/px4_daemon/server_io.cpp b/platforms/posix/src/px4_daemon/server_io.cpp
index ba801053da4498031ea794f2e249d1fcbf699bff..381bea9be15e25f83022eba6b6986fef792bac6b 100644
--- a/platforms/posix/src/px4_daemon/server_io.cpp
+++ b/platforms/posix/src/px4_daemon/server_io.cpp
@@ -1,6 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ * Copyright (C) 2016-2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,8 +35,10 @@
*
* @author Julian Oes <julian@oes.ch>
* @author Beat Küng <beat-kueng@gmx.net>
+ * @author Mara Bos <m-ou.se@m-ou.se>
*/
+#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <string>
@@ -56,21 +58,19 @@
using namespace px4_daemon;
-int get_stdout_pipe_buffer(char **buffer, unsigned *max_length, bool *is_atty)
+FILE *get_stdout(bool *isatty_)
{
- // The thread specific data won't be initialized if the server is not running.
Server::CmdThreadSpecificData *thread_data_ptr;
- if (!Server::is_running()) {
- return -1;
- }
-
// If we are not in a thread that has been started by a client, we don't
// have any thread specific data set and we won't have a pipe to write
// stdout to.
- if ((thread_data_ptr = (Server::CmdThreadSpecificData *)pthread_getspecific(
+ if (!Server::is_running() ||
+ (thread_data_ptr = (Server::CmdThreadSpecificData *)pthread_getspecific(
Server::get_pthread_key())) == nullptr) {
- return -1;
+ if (isatty_) { *isatty_ = isatty(1); }
+
+ return stdout;
}
#ifdef __PX4_POSIX_EAGLE
@@ -79,37 +79,20 @@ int get_stdout_pipe_buffer(char **buffer, unsigned *max_length, bool *is_atty)
// even though the pthread_key has been created.
// We can catch this using the check below but we have no clue why this happens.
if (thread_data_ptr == (void *)0x1) {
- return -1;
+ if (isatty_) { *isatty_ = isatty(1); }
+
+ return stdout;
}
#endif
- *buffer = thread_data_ptr->buffer;
- *max_length = sizeof(thread_data_ptr->buffer);
- *is_atty = thread_data_ptr->is_atty;
-
- return 0;
-}
-
-int send_stdout_pipe_buffer(unsigned buffer_length)
-{
- Server::CmdThreadSpecificData *thread_data_ptr;
+ if (thread_data_ptr->thread_stdout == nullptr) {
+ if (isatty_) { *isatty_ = isatty(1); }
- if (!Server::is_running()) {
- return -1;
+ return stdout;
}
- if ((thread_data_ptr = (Server::CmdThreadSpecificData *)pthread_getspecific(
- Server::get_pthread_key())) == nullptr) {
- return -1;
- }
-
- int bytes_sent = write(thread_data_ptr->fd, thread_data_ptr->buffer, buffer_length);
-
- if (bytes_sent != (int)buffer_length) {
- printf("write fail\n");
- return -1;
- }
+ if (isatty_) { *isatty_ = thread_data_ptr->is_atty; }
- return 0;
+ return thread_data_ptr->thread_stdout;
}
diff --git a/src/drivers/linux_pwm_out/navio_sysfs.cpp b/src/drivers/linux_pwm_out/navio_sysfs.cpp
index 4b5c992cc87ac748c13df3d4e2390d10884a19c2..8b00f499531cdd1049a7009e5d438210d411ed5a 100644
--- a/src/drivers/linux_pwm_out/navio_sysfs.cpp
+++ b/src/drivers/linux_pwm_out/navio_sysfs.cpp
@@ -35,6 +35,7 @@
#include <fcntl.h>
#include <errno.h>
+#include <unistd.h>
#include <px4_log.h>
using namespace linux_pwm_out;
diff --git a/src/drivers/linux_pwm_out/ocpoc_mmap.cpp b/src/drivers/linux_pwm_out/ocpoc_mmap.cpp
index c301f77be19e728acc9ecbac52f69dab14eb9d0e..991aa553007030f0c719e52255892a2fd6f624af 100644
--- a/src/drivers/linux_pwm_out/ocpoc_mmap.cpp
+++ b/src/drivers/linux_pwm_out/ocpoc_mmap.cpp
@@ -37,6 +37,7 @@
#include <fcntl.h>
#include <sys/mman.h>
+#include <unistd.h>
using namespace linux_pwm_out;
diff --git a/src/drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp b/src/drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
index d53003b4f9c1fe5eae1135bfd72b52279659dfc2..18081a09ff440d704db78fecb100c99315829718 100644
--- a/src/drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
+++ b/src/drivers/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
@@ -37,6 +37,7 @@
#include <fcntl.h>
#include <stdio.h>
#include <stdint.h>
+#include <unistd.h>
#include <px4_config.h>
#include <px4_workqueue.h>
diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.h b/src/drivers/rpi_rc_in/rpi_rc_in.h
index def9f74a47804cc85a54930c07f0b9c8fda862b2..b301d8fab26e67985a36d2797b34e1b6f0dc97dd 100644
--- a/src/drivers/rpi_rc_in/rpi_rc_in.h
+++ b/src/drivers/rpi_rc_in/rpi_rc_in.h
@@ -46,6 +46,7 @@
#include <fcntl.h>
#include <stdio.h>
#include <stdint.h>
+#include <unistd.h>
#include <px4_config.h>
#include <px4_workqueue.h>
diff --git a/src/modules/logger/util.cpp b/src/modules/logger/util.cpp
index 9d6513927c4936c3a6254b059158fac1f45ad50b..958369c062d6c80f68d64009f3f866b01a7c5279 100644
--- a/src/modules/logger/util.cpp
+++ b/src/modules/logger/util.cpp
@@ -37,6 +37,7 @@
#include <sys/stat.h>
#include <string.h>
#include <stdlib.h>
+#include <unistd.h>
#include <uORB/topics/vehicle_gps_position.h>
diff --git a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
index a029ec7cd3bf9459d355aa491e2d95bcea88142f..bb54d92bbf16cf21d5bb5a8c439823ce2fe1e8b1 100644
--- a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
+++ b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
@@ -37,6 +37,7 @@
#include "../uORB.h"
#include <px4_time.h>
#include <px4_tasks.h>
+#include <unistd.h>
struct orb_test {
int val;
diff --git a/src/platforms/common/CMakeLists.txt b/src/platforms/common/CMakeLists.txt
index 60963668a93cafce357987b9d64f3253d77548e2..fcd2eb5b04c35982ac0754dd4580d2b4702b9f4a 100644
--- a/src/platforms/common/CMakeLists.txt
+++ b/src/platforms/common/CMakeLists.txt
@@ -33,7 +33,7 @@
set(SRCS)
-if (NOT "${OS}" MATCHES "qurt")
+if (NOT "${OS}" MATCHES "qurt" AND NOT "${CONFIG}" MATCHES "px4io")
list(APPEND SRCS
px4_log.c
)
diff --git a/src/platforms/common/px4_log.c b/src/platforms/common/px4_log.c
index 5476162f91601a0c1b8588e797f2f0d8f0ff5c85..850710121ab0966daa279a689bdb274a928a8c85 100644
--- a/src/platforms/common/px4_log.c
+++ b/src/platforms/common/px4_log.c
@@ -31,6 +31,7 @@
*
****************************************************************************/
+#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <px4_log.h>
@@ -95,78 +96,38 @@ void px4_backtrace()
__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
{
+ FILE *out = stdout;
+ bool use_color = true;
#ifdef __PX4_POSIX
- char *buffer;
- unsigned max_length;
- bool is_atty = false;
-
- if (get_stdout_pipe_buffer(&buffer, &max_length, &is_atty) == 0) {
- if (level >= _PX4_LOG_LEVEL_INFO) {
-
- unsigned pos = 0;
-
- if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", __px4_log_level_color[level]); }
-
- if (pos >= max_length) { return; }
-
- pos += snprintf(buffer + pos, max_length - pos, __px4__log_level_fmt __px4__log_level_arg(level));
-
- if (pos >= max_length) { return; }
-
- if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", PX4_ANSI_COLOR_GRAY); }
-
- if (pos >= max_length) { return; }
-
- pos += snprintf(buffer + pos, max_length - pos, __px4__log_modulename_pfmt, moduleName);
- va_list argptr;
-
- if (pos >= max_length) { return; }
-
- if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", __px4_log_level_color[level]); }
-
- if (pos >= max_length) { return; }
-
- va_start(argptr, fmt);
- pos += vsnprintf(buffer + pos, max_length - pos, fmt, argptr);
+ out = get_stdout(&use_color);
+#endif
- if (pos >= max_length) { return; }
+#ifndef PX4_LOG_COLORIZED_OUTPUT
+ use_color = false;
+#endif
- va_end(argptr);
- pos += snprintf(buffer + pos, max_length - pos, "\n");
+ if (level >= _PX4_LOG_LEVEL_INFO) {
+ if (use_color) { fputs(__px4_log_level_color[level], out); }
- if (pos >= max_length) { return; }
+ fprintf(out, __px4__log_level_fmt __px4__log_level_arg(level));
- if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", PX4_ANSI_COLOR_RESET); }
+ if (use_color) { fputs(PX4_ANSI_COLOR_GRAY, out); }
- if (pos >= max_length) { return; }
+ fprintf(out, __px4__log_modulename_pfmt, moduleName);
- // +1 for the terminating 0 char.
- send_stdout_pipe_buffer(pos + 1);
- }
+ if (use_color) { fputs(__px4_log_level_color[level], out); }
- } else {
-#endif
+ va_list argptr;
+ va_start(argptr, fmt);
+ vfprintf(out, fmt, argptr);
+ va_end(argptr);
- if (level >= _PX4_LOG_LEVEL_INFO) {
- PX4_LOG_COLOR_START
- printf(__px4__log_level_fmt __px4__log_level_arg(level));
- PX4_LOG_COLOR_MODULE
- printf(__px4__log_modulename_pfmt, moduleName);
- PX4_LOG_COLOR_MESSAGE
- va_list argptr;
- va_start(argptr, fmt);
- vprintf(fmt, argptr);
- va_end(argptr);
- PX4_LOG_COLOR_END
- printf("\n");
- }
+ if (use_color) { fputs(PX4_ANSI_COLOR_RESET, out); }
-#ifdef __PX4_POSIX
+ fputc('\n', out);
}
-#endif
-
/* publish an orb log message */
if (level >= _PX4_LOG_LEVEL_WARN && orb_log_message_pub) { //only publish important messages
@@ -201,52 +162,25 @@ __EXPORT void px4_log_modulename(int level, const char *moduleName, const char *
__EXPORT void px4_log_raw(int level, const char *fmt, ...)
{
+ FILE *out = stdout;
+ bool use_color = true;
#ifdef __PX4_POSIX
- char *buffer;
- unsigned max_length;
- bool is_atty = false;
-
- if (get_stdout_pipe_buffer(&buffer, &max_length, &is_atty) == 0) {
- if (level >= _PX4_LOG_LEVEL_INFO) {
-
- unsigned pos = 0;
-
- va_list argptr;
-
- if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", __px4_log_level_color[level]); }
-
- if (pos >= max_length) { return; }
-
- va_start(argptr, fmt);
- pos += vsnprintf(buffer + pos, max_length - pos, fmt, argptr);
- va_end(argptr);
-
- if (pos >= max_length) { return; }
-
- if (is_atty) { pos += snprintf(buffer + pos, max_length - pos, "%s", PX4_ANSI_COLOR_RESET); }
-
- if (pos >= max_length) { return; }
-
- // +1 for the terminating 0 char.
- send_stdout_pipe_buffer(pos + 1);
- }
+ out = get_stdout(&use_color);
+#endif
- } else {
+#ifndef PX4_LOG_COLORIZED_OUTPUT
+ use_color = false;
#endif
- if (level >= _PX4_LOG_LEVEL_INFO) {
- PX4_LOG_COLOR_START
- PX4_LOG_COLOR_MESSAGE
- va_list argptr;
- va_start(argptr, fmt);
- vprintf(fmt, argptr);
- va_end(argptr);
- PX4_LOG_COLOR_END
- }
+ if (level >= _PX4_LOG_LEVEL_INFO) {
+ if (use_color) { fputs(__px4_log_level_color[level], out); }
-#ifdef __PX4_POSIX
- }
+ va_list argptr;
+ va_start(argptr, fmt);
+ vfprintf(out, fmt, argptr);
+ va_end(argptr);
-#endif
+ if (use_color) { fputs(PX4_ANSI_COLOR_RESET, out); }
+ }
}
diff --git a/src/platforms/px4_log.h b/src/platforms/px4_log.h
index 1e6e2208b29fb105a2b6f441ba11dc00de0d8325..f3e72b07823414b82a50f2d852c67a82a724e67d 100644
--- a/src/platforms/px4_log.h
+++ b/src/platforms/px4_log.h
@@ -196,24 +196,6 @@ __END_DECLS
#endif /* __PX4_POSIX */
-#ifdef PX4_LOG_COLORIZED_OUTPUT
-#include <unistd.h>
-#define PX4_LOG_COLOR_START \
- int use_color = isatty(STDOUT_FILENO); \
- if (use_color) printf("%s", __px4_log_level_color[level]);
-#define PX4_LOG_COLOR_MODULE \
- if (use_color) printf(PX4_ANSI_COLOR_GRAY);
-#define PX4_LOG_COLOR_MESSAGE \
- if (use_color) printf("%s", __px4_log_level_color[level]);
-#define PX4_LOG_COLOR_END \
- if (use_color) printf(PX4_ANSI_COLOR_RESET);
-#else
-#define PX4_LOG_COLOR_START
-#define PX4_LOG_COLOR_MODULE
-#define PX4_LOG_COLOR_MESSAGE
-#define PX4_LOG_COLOR_END
-#endif /* PX4_LOG_COLORIZED_OUTPUT */
-
/****************************************************************************
* Output format macros
* Use these to implement the code level macros below
diff --git a/src/systemcmds/tests/test_hysteresis.cpp b/src/systemcmds/tests/test_hysteresis.cpp
index 8569a17b45048aff632af9fb28ef4da6961703db..17d884694c410c0092f7cad6ad678782d9d7c30b 100644
--- a/src/systemcmds/tests/test_hysteresis.cpp
+++ b/src/systemcmds/tests/test_hysteresis.cpp
@@ -1,4 +1,5 @@
#include <unit_test.h>
+#include <unistd.h>
#include <systemlib/hysteresis/hysteresis.h>
diff --git a/src/systemcmds/tests/test_microbench_hrt.cpp b/src/systemcmds/tests/test_microbench_hrt.cpp
index c4a75ce5d6dbef404294be16a24ced8216e0addc..80d917280c63bfd91925728db2c6ba9dde72c650 100644
--- a/src/systemcmds/tests/test_microbench_hrt.cpp
+++ b/src/systemcmds/tests/test_microbench_hrt.cpp
@@ -35,6 +35,7 @@
#include <time.h>
#include <stdlib.h>
+#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <perf/perf_counter.h>
diff --git a/src/systemcmds/tests/test_microbench_math.cpp b/src/systemcmds/tests/test_microbench_math.cpp
index 7e492a342be726aae2ab91989c4f24c28be24149..a3d50f5adf2cca9f1f78f79bcfcef20671d615b5 100644
--- a/src/systemcmds/tests/test_microbench_math.cpp
+++ b/src/systemcmds/tests/test_microbench_math.cpp
@@ -35,6 +35,7 @@
#include <time.h>
#include <stdlib.h>
+#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <perf/perf_counter.h>
diff --git a/src/systemcmds/tests/test_microbench_matrix.cpp b/src/systemcmds/tests/test_microbench_matrix.cpp
index aac4f97858ba07d5cba605c1a2855de08d759836..2cd7107c77a47a0ecb616b22e93a860659867dcd 100644
--- a/src/systemcmds/tests/test_microbench_matrix.cpp
+++ b/src/systemcmds/tests/test_microbench_matrix.cpp
@@ -35,6 +35,7 @@
#include <time.h>
#include <stdlib.h>
+#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <perf/perf_counter.h>
diff --git a/src/systemcmds/tests/test_microbench_uorb.cpp b/src/systemcmds/tests/test_microbench_uorb.cpp
index 85ead44fac98e5d8e6c9397f81b7e1f7942bcb67..9d9faff226fa7cc6507497ec83c976e1e3b71c60 100644
--- a/src/systemcmds/tests/test_microbench_uorb.cpp
+++ b/src/systemcmds/tests/test_microbench_uorb.cpp
@@ -35,6 +35,7 @@
#include <time.h>
#include <stdlib.h>
+#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <perf/perf_counter.h>
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 0e1b270975f493a711725bd70e00d80aff21dad0..c389eb18b08d784b20b750e833b9bd31093ddeec 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -40,6 +40,7 @@
#include <limits>
#include <dirent.h>
#include <string.h>
+#include <unistd.h>
#include <px4_config.h>
#include <mixer/mixer.h>
diff --git a/src/systemcmds/tests/test_parameters.cpp b/src/systemcmds/tests/test_parameters.cpp
index 2d2e9cb7e9dfecd03e5aee31521d906d2c943912..317309fc8d67bf9e9517b0b0fa2ff160420beb49 100644
--- a/src/systemcmds/tests/test_parameters.cpp
+++ b/src/systemcmds/tests/test_parameters.cpp
@@ -2,6 +2,7 @@
#include <px4_defines.h>
#include <fcntl.h>
+#include <unistd.h>
class ParameterTest : public UnitTest
{