From 7e7513bc155a29847998e5d14c1c05006b3f256c Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Sat, 13 Jun 2015 14:12:17 -0700
Subject: [PATCH] POSIX: change pthreads to px4_tasks in simulator

The simulator was using pthread APIs directly so calls to px4_getpid()
would fail since the task ID was not known. Changed simulator to use
px4_task_spawn_cmd.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
 src/modules/simulator/simulator.cpp         |  1 -
 src/modules/simulator/simulator.h           |  2 +-
 src/modules/simulator/simulator_mavlink.cpp | 30 ++++++++-------------
 3 files changed, 12 insertions(+), 21 deletions(-)

diff --git a/src/modules/simulator/simulator.cpp b/src/modules/simulator/simulator.cpp
index 0c02da247f..702966cf6e 100644
--- a/src/modules/simulator/simulator.cpp
+++ b/src/modules/simulator/simulator.cpp
@@ -39,7 +39,6 @@
 #include <px4_log.h>
 #include <px4_tasks.h>
 #include <px4_time.h>
-#include <pthread.h>
 #include <poll.h>
 #include <systemlib/err.h>
 #include <errno.h>
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index b2ebc880cd..43c97df668 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -276,7 +276,7 @@ private:
 	void send_mavlink_message(const uint8_t msgid, const void *msg, uint8_t component_ID);
 	void update_sensors(struct sensor_combined_s *sensor, mavlink_hil_sensor_t *imu);
 	void update_gps(mavlink_hil_gps_t *gps_sim);
-	static void *sending_trampoline(void *);
+	static int sending_trampoline(int argc, char *argv[]);
 	void send();
 #endif
 };
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index e4403fd221..88893f9c4a 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -33,6 +33,7 @@
 #include <termios.h>
 #include <px4_log.h>
 #include <px4_time.h>
+#include <px4_tasks.h>
 #include "simulator.h"
 #include "errno.h"
 #include <drivers/drv_pwm_output.h>
@@ -250,9 +251,9 @@ void Simulator::poll_actuators() {
 	}
 }
 
-void *Simulator::sending_trampoline(void *) {
+int  Simulator::sending_trampoline(int argv, char *argc[]) {
 	_instance->send();
-	return 0;	// why do I have to put this???
+	return 0;
 }
 
 void Simulator::send() {
@@ -326,21 +327,6 @@ void Simulator::updateSamples()
 		return;
 	}
 
-	// create a thread for sending data to the simulator
-	pthread_t sender_thread;
-
-	// initialize threads
-	pthread_attr_t sender_thread_attr;
-	pthread_attr_init(&sender_thread_attr);
-	pthread_attr_setstacksize(&sender_thread_attr, 1000);
-
-	struct sched_param param;
-	(void)pthread_attr_getschedparam(&sender_thread_attr, &param);
-
-	/* low priority */
-	param.sched_priority = SCHED_PRIORITY_DEFAULT;
-	(void)pthread_attr_setschedparam(&sender_thread_attr, &param);
-
 	// setup serial connection to autopilot (used to get manual controls)
 	int serial_fd = openUart(PIXHAWK_DEVICE, 115200);
 
@@ -381,9 +367,15 @@ void Simulator::updateSamples()
 	// subscribe to topics
 	_actuator_outputs_sub = orb_subscribe_multi(ORB_ID(actuator_outputs), 0);
 
+	char * argv[2] = { nullptr, nullptr };
+
 	// got data from simulator, now activate the sending thread
-	pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, NULL);
-	pthread_attr_destroy(&sender_thread_attr);
+        px4_task_spawn_cmd("simulator-send",
+			   SCHED_DEFAULT,
+			   SCHED_PRIORITY_DEFAULT,
+			   1000,
+			   (px4_main_t)&Simulator::sending_trampoline,
+			   (char *const *)argv);
 
 	// wait for new mavlink messages to arrive
 	while (true) {