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posix: set task name as argv[0] to match Nuttx

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This changes px4_task_spawn_cmd to match the NuttX task_spawn. It adds
the task name as argv[0]. See example below:

px4_task_spawn_cmd("task_name",
		   SCHED_DEFAULT,
		   SCHED_PRIORITY_DEFAULT,
		   1024,
		   (px4_main_t)&Something::start_helper,
		   (char *const *)argv);

with:

argv[0]: "something"
argv[1]: "start"
argv[2]: nullptr

becomes in Something::start_helper:

argv[0]: "task_name"
argv[1]: "something"
argv[2]: "start"
argv[3]: nullptr
This commit is contained in:
Julian Oes 2020-12-07 10:27:00 +13:00 committed by Beat Küng
parent 862fd1d450
commit dba3c642d2
1 changed files with 16 additions and 8 deletions
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24
platforms/posix/src/px4/common/tasks.cpp
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@ -108,7 +108,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
char *const argv[])
{
int argc = 0;
unsigned int len = 0;
unsigned int len = strlen(name) + 1;
struct sched_param param = {};
char *p = (char *)argv;
@ -124,7 +124,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
len += strlen(p) + 1;
}
unsigned long structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
unsigned long structsize = sizeof(pthdata_t) + (argc + 2) * sizeof(char *);
// not safe to pass stack data to the thread creation
pthdata_t *taskdata = (pthdata_t *)malloc(structsize + len);
@ -134,22 +134,30 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
}
memset(taskdata, 0, structsize + len);
unsigned long offset = ((unsigned long)taskdata) + structsize;
strncpy(taskdata->name, name, 16);
taskdata->name[15] = 0;
taskdata->name[15] = '\0';
taskdata->entry = entry;
taskdata->argc = argc;
taskdata->argc = argc + 1;
char *offset = (char *)taskdata + structsize;
// We match the NuttX task_spawn implementation which copies
// the name into argv[0] in order to provide a consistent API
// to all tasks/modules.
taskdata->argv[0] = offset;
strcpy(offset, name);
offset += strlen(name) + 1;
for (int i = 0; i < argc; ++i) {
PX4_DEBUG("arg %d %s\n", i, argv[i]);
taskdata->argv[i] = (char *)offset;
strcpy((char *)offset, argv[i]);
taskdata->argv[i + 1] = offset;
strcpy(offset, argv[i]);
offset += strlen(argv[i]) + 1;
}
// Must add NULL at end of argv
taskdata->argv[argc] = (char *)nullptr;
taskdata->argv[argc + 1] = (char *)nullptr;
PX4_DEBUG("starting task %s", name);