fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 04:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Posix tasks: Initialization and locking

Browse Source
This commit is contained in:
Lorenz Meier
2015-11-22 14:01:52 +01:00
parent e3b13e1324
commit 734ec9094e
1 changed files with 16 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/posix/px4_layer/px4_posix_tasks.cpp
+16 -3
View File
@@ -62,6 +62,7 @@
#define SHELL_TASK_ID (PX4_MAX_TASKS+1) #define SHELL_TASK_ID (PX4_MAX_TASKS+1)
pthread_t _shell_task_id = 0; pthread_t _shell_task_id = 0;
pthread_mutex_t task_mutex = PTHREAD_MUTEX_INITIALIZER;
struct task_entry { struct task_entry {
pthread_t pid; pthread_t pid;
@@ -70,7 +71,7 @@ struct task_entry {
task_entry() : isused(false) {} task_entry() : isused(false) {}
}; };
static task_entry taskmap[PX4_MAX_TASKS]; static task_entry taskmap[PX4_MAX_TASKS] = {};
typedef struct { typedef struct {
px4_main_t entry; 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; unsigned long structsize;
char *p = (char *)argv; char *p = (char *)argv;
pthread_t task; pthread_t task = {};
pthread_attr_t attr; pthread_attr_t attr;
struct sched_param param; struct sched_param param = {};
// Calculate argc // Calculate argc
while (p != (char *)0) { 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 // not safe to pass stack data to the thread creation
taskdata = (pthdata_t *)malloc(structsize + len); taskdata = (pthdata_t *)malloc(structsize + len);
memset(taskdata, 0, structsize + len);
offset = ((unsigned long)taskdata) + structsize; offset = ((unsigned long)taskdata) + structsize;
taskdata->entry = entry; 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) { for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused == false) { if (taskmap[i].isused == false) {
taskmap[i].pid = task; taskmap[i].pid = task;
@@ -203,6 +206,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
break; break;
} }
} }
pthread_mutex_unlock(&task_mutex);
if (i >= PX4_MAX_TASKS) { if (i >= PX4_MAX_TASKS) {
return -ENOSPC; return -ENOSPC;
@@ -224,9 +228,11 @@ int px4_task_delete(px4_task_t id)
return -EINVAL; return -EINVAL;
} }
pthread_mutex_lock(&task_mutex);
// If current thread then exit, otherwise cancel // If current thread then exit, otherwise cancel
if (pthread_self() == pid) { if (pthread_self() == pid) {
taskmap[id].isused = false; taskmap[id].isused = false;
pthread_mutex_unlock(&task_mutex);
pthread_exit(0); pthread_exit(0);
} else { } else {
@@ -234,6 +240,7 @@ int px4_task_delete(px4_task_t id)
} }
taskmap[id].isused = false; taskmap[id].isused = false;
pthread_mutex_unlock(&task_mutex);
return rv; return rv;
} }
@@ -246,6 +253,7 @@ void px4_task_exit(int ret)
// Get pthread ID from the opaque ID // 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) { if (taskmap[i].pid == pid) {
pthread_mutex_lock(&task_mutex);
taskmap[i].isused = false; taskmap[i].isused = false;
break; break;
} }
@@ -257,6 +265,7 @@ void px4_task_exit(int ret)
} else { } else {
PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str()); PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str());
} }
pthread_mutex_unlock(&task_mutex);
pthread_exit((void *)(unsigned long)ret); 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); PX4_DEBUG("Called px4_task_kill %d", sig);
if (id < PX4_MAX_TASKS && taskmap[id].isused && taskmap[id].pid != 0) { if (id < PX4_MAX_TASKS && taskmap[id].isused && taskmap[id].pid != 0) {
pthread_mutex_lock(&task_mutex);
pid = taskmap[id].pid; pid = taskmap[id].pid;
pthread_mutex_unlock(&task_mutex);
} else { } else {
return -EINVAL; return -EINVAL;
@@ -326,7 +337,9 @@ const char *getprogname()
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) { if (taskmap[i].isused && taskmap[i].pid == pid) {
pthread_mutex_lock(&task_mutex);
return taskmap[i].name.c_str(); return taskmap[i].name.c_str();
pthread_mutex_unlock(&task_mutex);
} }
} }