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QuRT: Fix formatting

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This commit is contained in:
Lorenz Meier
2015-10-19 13:35:05 +02:00
parent 73545a4311
commit 567935dedb
21 changed files with 344 additions and 297 deletions
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src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+88 -65
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@@ -66,8 +66,7 @@
pthread_t _shell_task_id = 0;
struct task_entry
{
struct task_entry {
pthread_t pid;
std::string name;
bool isused;
@@ -76,31 +75,30 @@ struct task_entry
static task_entry taskmap[PX4_MAX_TASKS];
typedef struct
{
typedef struct {
px4_main_t entry;
int argc;
char *argv[];
// strings are allocated after the
// strings are allocated after the
} pthdata_t;
static void *entry_adapter ( void *ptr )
static void *entry_adapter(void *ptr)
{
pthdata_t *data;
data = (pthdata_t *) ptr;
pthdata_t *data;
data = (pthdata_t *) ptr;
data->entry(data->argc, data->argv);
PX4_WARN( "Before waiting infinte busy loop" );
//for( ;; )
//{
// volatile int x = 0;
// ++x;
// }
PX4_WARN("Before waiting infinte busy loop");
//for( ;; )
//{
// volatile int x = 0;
// ++x;
// }
free(ptr);
px4_task_exit(0);
px4_task_exit(0);
return NULL;
}
}
void
px4_systemreset(bool to_bootloader)
@@ -108,7 +106,8 @@ px4_systemreset(bool to_bootloader)
PX4_WARN("Called px4_system_reset");
}
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
char *const argv[])
{
int rv;
int argc = 0;
@@ -116,83 +115,96 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
unsigned int len = 0;
unsigned long offset;
unsigned long structsize;
char * p = (char *)argv;
char *p = (char *)argv;
PX4_DEBUG("Creating %s\n", name);
pthread_t task;
pthread_t task;
pthread_attr_t attr;
struct sched_param param;
// Calculate argc
while (p != (char *)0) {
p = argv[argc];
if (p == (char *)0)
break;
++argc;
len += strlen(p)+1;
}
structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
pthdata_t *taskdata;
// not safe to pass stack data to the thread creation
taskdata = (pthdata_t *)malloc(structsize+len);
offset = ((unsigned long)taskdata)+structsize;
taskdata->entry = entry;
if (p == (char *)0) {
break;
}
++argc;
len += strlen(p) + 1;
}
structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
pthdata_t *taskdata;
// not safe to pass stack data to the thread creation
taskdata = (pthdata_t *)malloc(structsize + len);
offset = ((unsigned long)taskdata) + structsize;
taskdata->entry = entry;
taskdata->argc = argc;
for (i=0; i<argc; i++) {
for (i = 0; i < argc; i++) {
PX4_DEBUG("arg %d %s\n", i, argv[i]);
taskdata->argv[i] = (char *)offset;
strcpy((char *)offset, argv[i]);
offset+=strlen(argv[i])+1;
offset += strlen(argv[i]) + 1;
}
// Must add NULL at end of argv
taskdata->argv[argc] = (char *)0;
rv = pthread_attr_init(&attr);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to init thread attrs");
return (rv < 0) ? rv : -rv;
}
#if 0
rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set inherit sched");
return (rv < 0) ? rv : -rv;
}
rv = pthread_attr_setschedpolicy(&attr, scheduler);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set sched policy");
return (rv < 0) ? rv : -rv;
}
#endif
size_t fixed_stacksize = -1;
pthread_attr_getstacksize(&attr, &fixed_stacksize);
PX4_WARN("stack size: %d passed stacksize(%d)", fixed_stacksize, stack_size );
fixed_stacksize = 8 * 1024;
fixed_stacksize = ( fixed_stacksize < (size_t)stack_size )? (size_t)stack_size:fixed_stacksize;
size_t fixed_stacksize = -1;
pthread_attr_getstacksize(&attr, &fixed_stacksize);
PX4_WARN("stack size: %d passed stacksize(%d)", fixed_stacksize, stack_size);
fixed_stacksize = 8 * 1024;
fixed_stacksize = (fixed_stacksize < (size_t)stack_size) ? (size_t)stack_size : fixed_stacksize;
PX4_WARN("setting the thread[%s] stack size to[%d]", name, fixed_stacksize);
pthread_attr_setstacksize(&attr, fixed_stacksize);
//pthread_attr_setstacksize(&attr, stack_size);
PX4_WARN("setting the thread[%s] stack size to[%d]", name, fixed_stacksize );
pthread_attr_setstacksize(&attr, fixed_stacksize);
//pthread_attr_setstacksize(&attr, stack_size);
param.sched_priority = priority;
rv = pthread_attr_setschedparam(&attr, &param);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set sched param");
return (rv < 0) ? rv : -rv;
}
rv = pthread_create (&task, &attr, &entry_adapter, (void *) taskdata);
rv = pthread_create(&task, &attr, &entry_adapter, (void *) taskdata);
if (rv != 0) {
return (rv < 0) ? rv : -rv;
}
for (i=0; i<PX4_MAX_TASKS; ++i) {
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused == false) {
taskmap[i].pid = task;
taskmap[i].name = name;
@@ -200,10 +212,12 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
break;
}
}
if (i>=PX4_MAX_TASKS) {
if (i >= PX4_MAX_TASKS) {
return -ENOSPC;
}
return i;
return i;
}
int px4_task_delete(px4_task_t id)
@@ -212,15 +226,18 @@ int px4_task_delete(px4_task_t id)
pthread_t pid;
PX4_WARN("Called px4_task_delete");
if (id < PX4_MAX_TASKS && taskmap[id].isused)
if (id < PX4_MAX_TASKS && taskmap[id].isused) {
pid = taskmap[id].pid;
else
} else {
return -EINVAL;
}
// If current thread then exit, otherwise cancel
if (pthread_self() == pid) {
if (pthread_self() == pid) {
taskmap[id].isused = false;
pthread_exit(0);
} else {
rv = pthread_cancel(pid);
}
@@ -232,20 +249,21 @@ int px4_task_delete(px4_task_t id)
void px4_task_exit(int ret)
{
int i;
int i;
pthread_t pid = pthread_self();
// Get pthread ID from the opaque ID
for (i=0; i<PX4_MAX_TASKS; ++i) {
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].pid == pid) {
taskmap[i].isused = false;
break;
}
}
if (i>=PX4_MAX_TASKS) {
if (i >= PX4_MAX_TASKS) {
PX4_ERR("px4_task_exit: self task not found!");
}
else {
} else {
PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str());
}
@@ -258,10 +276,12 @@ int px4_task_kill(px4_task_t id, int sig)
pthread_t pid;
PX4_DEBUG("Called px4_task_kill %d, taskname %s", sig, taskmap[id].name.c_str());
if (id < PX4_MAX_TASKS && taskmap[id].pid != 0)
if (id < PX4_MAX_TASKS && taskmap[id].pid != 0) {
pid = taskmap[id].pid;
else
} else {
return -EINVAL;
}
// If current thread then exit, otherwise cancel
rv = pthread_kill(pid, sig);
@@ -275,15 +295,17 @@ void px4_show_tasks()
int count = 0;
PX4_INFO("Active Tasks:");
for (idx=0; idx < PX4_MAX_TASKS; idx++)
{
for (idx = 0; idx < PX4_MAX_TASKS; idx++) {
if (taskmap[idx].isused) {
PX4_INFO(" %-10s %d", taskmap[idx].name.c_str(), taskmap[idx].pid);
count++;
}
}
if (count == 0)
if (count == 0) {
PX4_INFO(" No running tasks");
}
}
@@ -297,11 +319,12 @@ int px4_getpid()
// return SHELL_TASK_ID;
// Get pthread ID from the opaque ID
for (int i=0; i<PX4_MAX_TASKS; ++i) {
for (int i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused && taskmap[i].pid == pid) {
return i;
}
}
PX4_ERR("px4_getpid() called from unknown thread context!");
return -EINVAL;
}
@@ -310,14 +333,14 @@ int px4_getpid()
const char *getprogname();
const char *getprogname()
{
pthread_t pid = pthread_self();
for (int i=0; i<PX4_MAX_TASKS; i++)
{
if (taskmap[i].isused && taskmap[i].pid == pid)
{
pthread_t pid = pthread_self();
for (int i = 0; i < PX4_MAX_TASKS; i++) {
if (taskmap[i].isused && taskmap[i].pid == pid) {
return taskmap[i].name.c_str();
}
}
return "Unknown App";
}
__END_DECLS