mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-19 22:19:06 +08:00
QuRT: pthread API now working
The use of std::map and static initialization was an issue. The code was refactored to not use static initialization. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
parent
7115ec3ab6
commit
884f62878d
@ -71,7 +71,7 @@ static map<string,px4_main_t> app_map(void);
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static map<string,px4_main_t> app_map(void)
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{
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map<string,px4_main_t> apps;
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static map<string,px4_main_t> apps;
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"""
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for app in apps:
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print '\tapps["'+app+'"] = '+app+'_main;'
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@ -61,27 +61,28 @@ for app in apps:
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print """
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static int shutdown_main(int argc, char *argv[]);
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static int list_tasks_main(int argc, char *argv[]);
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static int list_files_main(int argc, char *argv[]);
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static int list_devices_main(int argc, char *argv[]);
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static int list_topics_main(int argc, char *argv[]);
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}
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static map<string,px4_main_t> app_map(void);
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static map<string,px4_main_t> app_map(void)
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void init_app_map(map<string,px4_main_t> &apps)
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{
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map<string,px4_main_t> apps;
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"""
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for app in apps:
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print '\tapps["'+app+'"] = '+app+'_main;'
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print '\tapps["shutdown"] = shutdown_main;'
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print '\tapps["list_tasks"] = list_tasks_main;'
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print '\tapps["list_files"] = list_files_main;'
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print '\tapps["list_devices"] = list_devices_main;'
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print '\tapps["list_topics"] = list_topics_main;'
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print """
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return apps;
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}
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map<string,px4_main_t> apps = app_map();
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static void list_builtins(void)
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void list_builtins(map<string,px4_main_t> &apps)
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{
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printf("Builtin Commands:\\n");
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for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
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@ -100,5 +101,21 @@ static int list_tasks_main(int argc, char *argv[])
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return 0;
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}
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static int list_devices_main(int argc, char *argv[])
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{
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px4_show_devices();
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return 0;
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}
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static int list_topics_main(int argc, char *argv[])
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{
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px4_show_topics();
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return 0;
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}
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static int list_files_main(int argc, char *argv[])
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{
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px4_show_files();
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return 0;
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}
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"""
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@ -10,7 +10,7 @@
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#
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# Board support modules
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#
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#MODULES += drivers/device
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MODULES += drivers/device
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#MODULES += drivers/blinkm
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#MODULES += drivers/hil
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#MODULES += drivers/led
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@ -42,9 +42,9 @@
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#
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# Library modules
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#
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#MODULES += modules/systemlib
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MODULES += modules/systemlib
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#MODULES += modules/systemlib/mixer
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#MODULES += modules/uORB
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MODULES += modules/uORB
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#MODULES += modules/dataman
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#MODULES += modules/sdlog2
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#MODULES += modules/simulator
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@ -56,8 +56,14 @@ $(PRODUCT_SHARED_PRELINK): $(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS)
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$(PRODUCT_SHARED_LIB): $(PRODUCT_SHARED_PRELINK)
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$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
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$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
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$(call LINK,$@, $(PRODUCT_SHARED_LIB))
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$(WORK_DIR)apps.cpp: $(PX4_BASE)/Tools/qurt_apps.py
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$(PX4_BASE)/Tools/qurt_apps.py > $@
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$(WORK_DIR)apps.o: $(WORK_DIR)apps.cpp
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$(call COMPILEXX,$<, $@)
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$(WORK_DIR)mainapp: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB)
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$(call LINK,$@, $^)
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#
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# Utility rules
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@ -199,11 +199,6 @@ ifeq (1,$(V_dynamic))
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CXX_FLAGS += -fpic -D__V_DYNAMIC__
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endif
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HEXAGON_LIB_PATH = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib/$(V_ARCH)/G0
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LIB_HEXAGON = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0/libhexagon.a
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#EXTRA_LIBS += $(PX4_BASE)../dspal_libs/libdspal.a
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# Flags we pass to the assembler
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#
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AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \
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@ -44,6 +44,7 @@ __BEGIN_DECLS
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extern void qurt_log(const char *fmt, ...);
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__END_DECLS
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#define qurt_log(...) {printf(__VA_ARGS__); printf("\n");}
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#define PX4_DBG(...) qurt_log(__VA_ARGS__)
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#define PX4_DEBUG(...) qurt_log(__VA_ARGS__)
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#define PX4_INFO(...) qurt_log(__VA_ARGS__)
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@ -37,16 +37,18 @@
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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#include <string>
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#include <px4_middleware.h>
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#include <px4_tasks.h>
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#include <px4_posix.h>
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#include <vector>
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//#include <hexagon_standalone.h>
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#include <string>
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#include <map>
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#include <stdio.h>
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//using namespace std;
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using namespace std;
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//typedef int (*px4_main_t)(int argc, char *argv[]);
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#include "apps.h"
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#include "px4_middleware.h"
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extern void init_app_map(map<string,px4_main_t> &apps);
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extern void list_builtins(map<string,px4_main_t> &apps);
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static const char *commands =
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"hello start"
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@ -71,30 +73,24 @@ static const char *commands =
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#endif
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;
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static void run_cmd(const vector<string> &appargs) {
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static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs) {
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// command is appargs[0]
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string command = appargs[0];
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//printf("Looking for %s\n", command.c_str());
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if (apps.find(command) != apps.end()) {
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const char *arg[2+1];
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unsigned int i = 0;
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//printf("size = %d\n", appargs.size());
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while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
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arg[i] = (char *)appargs[i].c_str();
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//printf(" arg = '%s'\n", arg[i]);
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printf(" arg = '%s'\n", arg[i]);
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++i;
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}
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arg[i] = (char *)0;
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//printf("BEFORE argc = %d %s %s %p\n", i, arg[0], arg[1], arg[2]);
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apps[command](i,(char **)arg);
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//printf("AFTER argc = %d %s %s %p\n", i, arg[0], arg[1], arg[2]);
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}
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else
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{
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//cout << "Invalid command" << endl;
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list_builtins();
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list_builtins(apps);
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}
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}
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@ -106,7 +102,7 @@ void eat_whitespace(const char *&b, int &i)
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i=0;
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}
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static void process_commands(const char *cmds)
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static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
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{
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vector<string> appargs;
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int i=0;
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@ -126,7 +122,7 @@ static void process_commands(const char *cmds)
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// If we have a command to run
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if (appargs.size() > 0) {
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run_cmd(appargs);
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run_cmd(apps, appargs);
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}
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appargs.clear();
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if (b[i] == '\n') {
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@ -145,6 +141,7 @@ static void process_commands(const char *cmds)
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eat_whitespace(b, ++i);
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continue;
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}
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printf("ch %c\n", b[i]);
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++i;
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}
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}
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@ -156,9 +153,11 @@ extern void init_once(void);
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int main(int argc, char **argv)
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{
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printf("In main\n");
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map<string,px4_main_t> apps;
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init_app_map(apps);
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px4::init_once();
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px4::init(argc, argv, "mainapp");
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process_commands(commands);
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process_commands(apps, commands);
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for (;;) {}
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}
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@ -37,13 +37,6 @@
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SRCDIR=$(dir $(MODULE_MK))
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apps.h: $(PX4_BASE)/Tools/qurt_apps.py
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$(PX4_BASE)/Tools/qurt_apps.py > $@
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# Force creation of apps.h
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main_.cpp: $(SRCDIR)/../main.cpp apps.h
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cp $(SRCDIR)/../main.cpp $@
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SRCS = \
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px4_qurt_impl.cpp \
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px4_qurt_tasks.cpp \
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@ -59,6 +52,6 @@ SRCS = \
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sq_remfirst.c \
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sq_addafter.c \
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dq_rem.c \
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main_.cpp
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main.cpp
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MAXOPTIMIZATION = -Os
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@ -38,6 +38,7 @@
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*/
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#include <px4_defines.h>
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#include <px4_tasks.h>
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#include <px4_middleware.h>
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#include <px4_workqueue.h>
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#include <dataman/dataman.h>
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@ -47,19 +48,28 @@
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#include <errno.h>
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#include <unistd.h>
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#include <semaphore.h>
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#include <qurt.h>
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#include "systemlib/param/param.h"
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#include <hexagon_standalone.h>
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__BEGIN_DECLS
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// FIXME - sysconf(_SC_CLK_TCK) not supported
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long PX4_TICKS_PER_SEC = 1000;
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void usleep(useconds_t usec) {}
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unsigned int sleep(unsigned int sec) { return 0; }
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void usleep(useconds_t usec) {
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qurt_timer_sleep(usec);
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}
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unsigned int sleep(unsigned int sec)
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{
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for (unsigned int i=0; i< sec; i++)
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qurt_timer_sleep(1000000);
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return 0;
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}
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extern void hrt_init(void);
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#if 0
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void qurt_log(const char *fmt, ...)
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{
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va_list args;
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@ -67,11 +77,15 @@ void qurt_log(const char *fmt, ...)
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printf(fmt, args);
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printf("n");
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}
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#endif
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extern int _posix_init(void);
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__END_DECLS
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extern struct wqueue_s gwork[NWORKERS];
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namespace px4
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{
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@ -79,25 +93,11 @@ void init_once(void);
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void init_once(void)
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{
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// Required for QuRT
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_posix_init();
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work_queues_init();
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hrt_init();
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// Create high priority worker thread
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g_work[HPWORK].pid = px4_task_spawn_cmd("wkr_high",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX,
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2000,
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work_hpthread,
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(char* const*)NULL);
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// Create low priority worker thread
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g_work[LPWORK].pid = px4_task_spawn_cmd("wkr_low",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MIN,
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2000,
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work_lpthread,
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(char* const*)NULL);
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}
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void init(int argc, char *argv[], const char *app_name)
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@ -141,3 +141,12 @@ size_t strnlen(const char *s, size_t maxlen)
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return i;
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}
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int ioctl(int a, int b, unsigned long c)
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{
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return -1;
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}
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int write(int a, char const* b, int c)
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{
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return -1;
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}
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@ -33,10 +33,11 @@
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****************************************************************************/
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/**
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* @file px4_linux_tasks.c
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* @file px4_posix_tasks.c
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* Implementation of existing task API for Linux
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*/
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#include <px4_log.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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@ -53,20 +54,16 @@
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#include <string>
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#include <px4_tasks.h>
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#include <px4_log.h>
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#include <hexagon_standalone.h>
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#define MAX_CMD_LEN 100
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#define PX4_MAX_TASKS 5
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#define PX4_MAX_TASKS 100
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struct task_entry
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{
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int pid;
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pthread_t pid;
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std::string name;
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bool isused;
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task_entry() : isused(false) {}
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void *sp;
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};
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static task_entry taskmap[PX4_MAX_TASKS];
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@ -75,31 +72,32 @@ typedef struct
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{
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px4_main_t entry;
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int argc;
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char * argv[];
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// strings are allocated after
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char *argv[];
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// strings are allocated after the
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} pthdata_t;
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static void entry_adapter ( void *ptr )
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static void *entry_adapter ( void *ptr )
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{
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pthdata_t *data = (pthdata_t *) ptr;
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PX4_DEBUG("entry_adapter %p %p entry %p %d %p\n", ptr, data, data->entry, data->argc, data->argv[0]);
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pthdata_t *data;
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data = (pthdata_t *) ptr;
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PX4_DEBUG("data->entry = %p\n", data->entry);
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PX4_DBG("entry_adapter");
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data->entry(data->argc, data->argv);
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free(ptr);
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PX4_DEBUG("after entry\n");
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PX4_DEBUG("Before px4_task_exit\n");
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PX4_DBG("Before px4_task_exit");
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px4_task_exit(0);
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PX4_DEBUG("After px4_task_exit\n");
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PX4_DBG("After px4_task_exit");
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return NULL;
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}
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void
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px4_systemreset(bool to_bootloader)
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{
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PX4_DEBUG("Called px4_system_reset\n");
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PX4_WARN("Called px4_system_reset");
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}
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px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const *argv)
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px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
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{
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int rv;
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int argc = 0;
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@ -109,7 +107,11 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
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unsigned long structsize;
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char * p = (char *)argv;
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PX4_DEBUG("px4_task_spawn_cmd entry = %p %p %s\n", entry, argv, argv[0]);
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printf("Creating %s\n", name);
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pthread_t task;
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pthread_attr_t attr;
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struct sched_param param;
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// Calculate argc
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while (p != (char *)0) {
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p = argv[argc];
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@ -118,24 +120,18 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
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++argc;
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len += strlen(p)+1;
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}
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PX4_DEBUG("arg %d %p\n", argc, argv);
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structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
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pthdata_t *taskdata;
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PX4_DEBUG("arg %d %p\n", argc, argv);
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// not safe to pass stack data to the thread creation
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taskdata = (pthdata_t *)malloc(structsize+len);
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PX4_DEBUG("arg %d %p\n", argc, argv);
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offset = ((unsigned long)taskdata)+structsize;
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PX4_DEBUG("arg %d %p\n", argc, argv);
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taskdata->entry = entry;
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taskdata->argc = argc;
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PX4_DEBUG("arg %d %p\n", argc, argv);
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for (i=0; i<argc; i++) {
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PX4_DEBUG("TEST\n");
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PX4_DEBUG("arg %d %s\n", i, argv[i]);
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printf("arg %d %s\n", i, argv[i]);
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taskdata->argv[i] = (char *)offset;
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strcpy((char *)offset, argv[i]);
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offset+=strlen(argv[i])+1;
|
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@ -143,38 +139,123 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
|
||||
// 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
|
||||
|
||||
param.sched_priority = priority;
|
||||
|
||||
rv = pthread_attr_setschedparam(&attr, ¶m);
|
||||
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);
|
||||
if (rv != 0) {
|
||||
|
||||
if (rv == EPERM) {
|
||||
//printf("WARNING: NOT RUNING AS ROOT, UNABLE TO RUN REALTIME THREADS\n");
|
||||
rv = pthread_create (&task, NULL, &entry_adapter, (void *) taskdata);
|
||||
if (rv != 0) {
|
||||
PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
}
|
||||
else {
|
||||
return (rv < 0) ? rv : -rv;
|
||||
}
|
||||
}
|
||||
|
||||
for (i=0; i<PX4_MAX_TASKS; ++i) {
|
||||
if (taskmap[i].isused == false) {
|
||||
taskmap[i].pid = i+1;
|
||||
taskmap[i].pid = task;
|
||||
taskmap[i].name = name;
|
||||
taskmap[i].isused = true;
|
||||
taskmap[i].sp = malloc(2048);
|
||||
break;
|
||||
}
|
||||
}
|
||||
PX4_DEBUG("taskdata %p entry %p %d %p\n", taskdata, taskdata->entry, taskdata->argc, taskdata->argv[0]);
|
||||
thread_create(entry_adapter, taskmap[i].sp, i+1, (void *) taskdata);
|
||||
|
||||
return i+1;
|
||||
if (i>=PX4_MAX_TASKS) {
|
||||
return -ENOSPC;
|
||||
}
|
||||
return i;
|
||||
}
|
||||
|
||||
int px4_task_delete(px4_task_t id)
|
||||
{
|
||||
PX4_DEBUG("Called px4_task_delete\n");
|
||||
return -EINVAL;
|
||||
int rv = 0;
|
||||
pthread_t pid;
|
||||
PX4_WARN("Called px4_task_delete");
|
||||
|
||||
if (id < PX4_MAX_TASKS && taskmap[id].isused)
|
||||
pid = taskmap[id].pid;
|
||||
else
|
||||
return -EINVAL;
|
||||
|
||||
// If current thread then exit, otherwise cancel
|
||||
if (pthread_self() == pid) {
|
||||
taskmap[id].isused = false;
|
||||
pthread_exit(0);
|
||||
} else {
|
||||
rv = pthread_cancel(pid);
|
||||
}
|
||||
|
||||
taskmap[id].isused = false;
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
void px4_task_exit(int ret)
|
||||
{
|
||||
thread_stop();
|
||||
int i;
|
||||
pthread_t pid = pthread_self();
|
||||
|
||||
// Free stack
|
||||
// Get pthread ID from the opaque ID
|
||||
for (i=0; i<PX4_MAX_TASKS; ++i) {
|
||||
if (taskmap[i].pid == pid) {
|
||||
taskmap[i].isused = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (i>=PX4_MAX_TASKS) {
|
||||
PX4_ERR("px4_task_exit: self task not found!");
|
||||
}
|
||||
else {
|
||||
PX4_DBG("px4_task_exit: %s", taskmap[i].name.c_str());
|
||||
}
|
||||
|
||||
//pthread_exit((void *)(unsigned long)ret);
|
||||
}
|
||||
|
||||
int px4_task_kill(px4_task_t id, int sig)
|
||||
{
|
||||
PX4_DEBUG("Called px4_task_kill\n");
|
||||
return -EINVAL;
|
||||
int rv = 0;
|
||||
pthread_t pid;
|
||||
PX4_DBG("Called px4_task_kill %d", sig);
|
||||
|
||||
if (id < PX4_MAX_TASKS && taskmap[id].pid != 0)
|
||||
pid = taskmap[id].pid;
|
||||
else
|
||||
return -EINVAL;
|
||||
|
||||
// If current thread then exit, otherwise cancel
|
||||
rv = pthread_kill(pid, sig);
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
void px4_show_tasks()
|
||||
@ -182,26 +263,15 @@ void px4_show_tasks()
|
||||
int idx;
|
||||
int count = 0;
|
||||
|
||||
PX4_DEBUG("Active Tasks:\n");
|
||||
PX4_INFO("Active Tasks:");
|
||||
for (idx=0; idx < PX4_MAX_TASKS; idx++)
|
||||
{
|
||||
if (taskmap[idx].isused) {
|
||||
PX4_DEBUG(" %-10s %d\n", taskmap[idx].name.c_str(), taskmap[idx].pid);
|
||||
PX4_INFO(" %-10s %u", taskmap[idx].name.c_str(), taskmap[idx].pid);
|
||||
count++;
|
||||
}
|
||||
}
|
||||
if (count == 0)
|
||||
PX4_DEBUG(" No running tasks\n");
|
||||
PX4_INFO(" No running tasks");
|
||||
|
||||
}
|
||||
|
||||
// STUBS
|
||||
|
||||
extern "C" {
|
||||
void hrt_sleep(unsigned long)
|
||||
{
|
||||
}
|
||||
|
||||
}
|
||||
int ioctl(int d, int request, unsigned long foo) { return 0; }
|
||||
int write(int a, char const*b, int c) { return c; }
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user