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Posix tasks: Initialization and locking

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This commit is contained in:
Lorenz Meier 2015-11-02 13:50:49 +01:00
parent e3b13e1324
commit 734ec9094e
1 changed files with 16 additions and 3 deletions
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19
src/platforms/posix/px4_layer/px4_posix_tasks.cpp
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@ -62,6 +62,7 @@
#define SHELL_TASK_ID (PX4_MAX_TASKS+1)
pthread_t _shell_task_id = 0;
pthread_mutex_t task_mutex = PTHREAD_MUTEX_INITIALIZER;
struct task_entry {
pthread_t pid;
@ -70,7 +71,7 @@ struct task_entry {
task_entry() : isused(false) {}
};
static task_entry taskmap[PX4_MAX_TASKS];
static task_entry taskmap[PX4_MAX_TASKS] = {};
typedef struct {
px4_main_t entry;
@ -109,9 +110,9 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
unsigned long structsize;
char *p = (char *)argv;
pthread_t task;
pthread_t task = {};
pthread_attr_t attr;
struct sched_param param;
struct sched_param param = {};
// Calculate argc
while (p != (char *)0) {
@ -130,6 +131,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
// not safe to pass stack data to the thread creation
taskdata = (pthdata_t *)malloc(structsize + len);
memset(taskdata, 0, structsize + len);
offset = ((unsigned long)taskdata) + structsize;
taskdata->entry = entry;
@ -195,6 +197,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
}
}
pthread_mutex_lock(&task_mutex);
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused == false) {
taskmap[i].pid = task;
@ -203,6 +206,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
break;
}
}
pthread_mutex_unlock(&task_mutex);
if (i >= PX4_MAX_TASKS) {
return -ENOSPC;
@ -224,9 +228,11 @@ int px4_task_delete(px4_task_t id)
return -EINVAL;
}
pthread_mutex_lock(&task_mutex);
// If current thread then exit, otherwise cancel
if (pthread_self() == pid) {
taskmap[id].isused = false;
pthread_mutex_unlock(&task_mutex);
pthread_exit(0);
} else {
@ -234,6 +240,7 @@ int px4_task_delete(px4_task_t id)
}
taskmap[id].isused = false;
pthread_mutex_unlock(&task_mutex);
return rv;
}
@ -246,6 +253,7 @@ void px4_task_exit(int ret)
// Get pthread ID from the opaque ID
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].pid == pid) {
pthread_mutex_lock(&task_mutex);
taskmap[i].isused = false;
break;
}
@ -257,6 +265,7 @@ void px4_task_exit(int ret)
} else {
PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str());
}
pthread_mutex_unlock(&task_mutex);
pthread_exit((void *)(unsigned long)ret);
}
@ -268,7 +277,9 @@ int px4_task_kill(px4_task_t id, int sig)
PX4_DEBUG("Called px4_task_kill %d", sig);
if (id < PX4_MAX_TASKS && taskmap[id].isused && taskmap[id].pid != 0) {
pthread_mutex_lock(&task_mutex);
pid = taskmap[id].pid;
pthread_mutex_unlock(&task_mutex);
} else {
return -EINVAL;
@ -326,7 +337,9 @@ const char *getprogname()
for (int i = 0; i < PX4_MAX_TASKS; i++) {
if (taskmap[i].isused && taskmap[i].pid == pid) {
pthread_mutex_lock(&task_mutex);
return taskmap[i].name.c_str();
pthread_mutex_unlock(&task_mutex);
}
}