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Use OS independent API for task creation/deletion

Browse Source 
Calls to task_delete and task_spawn_cmd are now
px4_task_delete and px4_task_spawn_cmd respectively.

The px4_tasks.h header was added to the affected files
and incusions of nuttx/config.h were removed.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-03-11 11:10:53 -07:00
parent 51a71d54c6
commit ddb32742eb
32 changed files with 94 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+3 -3
View File
@@ -41,7 +41,7 @@
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
@@ -114,7 +114,7 @@ usage(const char *reason)
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_spawn_cmd().
* to px4_task_spawn_cmd().
*/
int attitude_estimator_ekf_main(int argc, char *argv[])
{
@@ -131,7 +131,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
}
thread_should_exit = false;
attitude_estimator_ekf_task = task_spawn_cmd("attitude_estimator_ekf",
attitude_estimator_ekf_task = px4_task_spawn_cmd("attitude_estimator_ekf",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
7700,
src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+3 -3
View File
@@ -50,7 +50,7 @@
* [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
@@ -132,7 +132,7 @@ usage(const char *reason)
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_spawn_cmd().
* to px4_task_spawn_cmd().
*/
int attitude_estimator_so3_main(int argc, char *argv[])
{
@@ -149,7 +149,7 @@ int attitude_estimator_so3_main(int argc, char *argv[])
}
thread_should_exit = false;
attitude_estimator_so3_task = task_spawn_cmd("attitude_estimator_so3",
attitude_estimator_so3_task = px4_task_spawn_cmd("attitude_estimator_so3",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
14000,
src/modules/bottle_drop/bottle_drop.cpp
+3 -3
View File
@@ -40,7 +40,7 @@
* @author Julian Oes <joes@student.ethz.ch>
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -210,7 +210,7 @@ BottleDrop::~BottleDrop()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_main_task);
px4_task_delete(_main_task);
break;
}
} while (_main_task != -1);
@@ -225,7 +225,7 @@ BottleDrop::start()
ASSERT(_main_task == -1);
/* start the task */
_main_task = task_spawn_cmd("bottle_drop",
_main_task = px4_task_spawn_cmd("bottle_drop",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 15,
1500,
src/modules/commander/commander.cpp
+2 -2
View File
@@ -42,7 +42,7 @@
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <pthread.h>
#include <stdio.h>
#include <stdlib.h>
@@ -275,7 +275,7 @@ int commander_main(int argc, char *argv[])
}
thread_should_exit = false;
daemon_task = task_spawn_cmd("commander",
daemon_task = px4_task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
3400,
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+3 -3
View File
@@ -43,7 +43,7 @@
#include "AttitudePositionEstimatorEKF.h"
#include "estimator_22states.h"
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -281,7 +281,7 @@ AttitudePositionEstimatorEKF::~AttitudePositionEstimatorEKF()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_estimator_task);
px4_task_delete(_estimator_task);
break;
}
} while (_estimator_task != -1);
@@ -1035,7 +1035,7 @@ int AttitudePositionEstimatorEKF::start()
ASSERT(_estimator_task == -1);
/* start the task */
_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
_estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
7500,
src/modules/fixedwing_backside/fixedwing_backside_main.cpp
+2 -2
View File
@@ -39,7 +39,7 @@
* Fixedwing backside controller using control library
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
@@ -111,7 +111,7 @@ int fixedwing_backside_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn_cmd("fixedwing_backside",
deamon_task = px4_task_spawn_cmd("fixedwing_backside",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
5120,
src/modules/fw_att_control/fw_att_control_main.cpp
+3 -3
View File
@@ -41,7 +41,7 @@
*
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -424,7 +424,7 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
@@ -1117,7 +1117,7 @@ FixedwingAttitudeControl::start()
ASSERT(_control_task == -1);
/* start the task */
_control_task = task_spawn_cmd("fw_att_control",
_control_task = px4_task_spawn_cmd("fw_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1600,
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+3 -3
View File
@@ -51,7 +51,7 @@
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -542,7 +542,7 @@ FixedwingPositionControl::~FixedwingPositionControl()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
@@ -1621,7 +1621,7 @@ FixedwingPositionControl::start()
ASSERT(_control_task == -1);
/* start the task */
_control_task = task_spawn_cmd("fw_pos_control_l1",
_control_task = px4_task_spawn_cmd("fw_pos_control_l1",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1600,
src/modules/land_detector/land_detector_main.cpp
+3 -2
View File
@@ -38,6 +38,7 @@
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
#include <px4_tasks.h> //usleep
#include <unistd.h> //usleep
#include <stdio.h>
#include <string.h>
@@ -95,7 +96,7 @@ static void land_detector_stop()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_landDetectorTaskID);
px4_task_delete(_landDetectorTaskID);
break;
}
} while (land_detector_task->isRunning());
@@ -136,7 +137,7 @@ static int land_detector_start(const char *mode)
}
//Start new thread task
_landDetectorTaskID = task_spawn_cmd("land_detector",
_landDetectorTaskID = px4_task_spawn_cmd("land_detector",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1000,
src/modules/mavlink/mavlink_main.cpp
+3 -3
View File
@@ -39,7 +39,7 @@
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -242,7 +242,7 @@ Mavlink::~Mavlink()
/* if we have given up, kill it */
if (++i > 50) {
//TODO store main task handle in Mavlink instance to allow killing task
//task_delete(_mavlink_task);
//px4_task_delete(_mavlink_task);
break;
}
} while (_task_running);
@@ -1618,7 +1618,7 @@ Mavlink::start(int argc, char *argv[])
// between the starting task and the spawned
// task - start_helper() only returns
// when the started task exits.
task_spawn_cmd(buf,
px4_task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2400,
src/modules/mc_att_control/mc_att_control_main.cpp
+3 -3
View File
@@ -53,7 +53,7 @@
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -404,7 +404,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
@@ -905,7 +905,7 @@ MulticopterAttitudeControl::start()
ASSERT(_control_task == -1);
/* start the task */
_control_task = task_spawn_cmd("mc_att_control",
_control_task = px4_task_spawn_cmd("mc_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1600,
src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp
+2 -1
View File
@@ -36,6 +36,7 @@
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <px4_tasks.h>
#include <string.h>
#include <cstdlib>
#include <systemlib/err.h>
@@ -68,7 +69,7 @@ int mc_att_control_m_main(int argc, char *argv[])
task_should_exit = false;
daemon_task = task_spawn_cmd("mc_att_control_m",
daemon_task = px4_task_spawn_cmd("mc_att_control_m",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1900,
src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -2
View File
@@ -50,6 +50,7 @@
*/
#include <px4.h>
#include <px4_tasks.h>
#include <functional>
#include <cstdio>
#include <stdlib.h>
@@ -384,7 +385,7 @@ MulticopterPositionControl::~MulticopterPositionControl()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
@@ -1423,7 +1424,7 @@ MulticopterPositionControl::start()
ASSERT(_control_task == -1);
/* start the task */
_control_task = task_spawn_cmd("mc_pos_control",
_control_task = px4_task_spawn_cmd("mc_pos_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1600,
src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp
+2 -1
View File
@@ -36,6 +36,7 @@
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <px4_tasks.h>
#include <string.h>
#include <cstdlib>
#include <systemlib/err.h>
@@ -68,7 +69,7 @@ int mc_pos_control_m_main(int argc, char *argv[])
task_should_exit = false;
daemon_task = task_spawn_cmd("mc_pos_control_m",
daemon_task = px4_task_spawn_cmd("mc_pos_control_m",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2500,
src/modules/navigator/navigator_main.cpp
+3 -3
View File
@@ -43,7 +43,7 @@
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
@@ -174,7 +174,7 @@ Navigator::~Navigator()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_navigator_task);
px4_task_delete(_navigator_task);
break;
}
} while (_navigator_task != -1);
@@ -515,7 +515,7 @@ Navigator::start()
ASSERT(_navigator_task == -1);
/* start the task */
_navigator_task = task_spawn_cmd("navigator",
_navigator_task = px4_task_spawn_cmd("navigator",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 20,
1800,
src/modules/segway/segway_main.cpp
+2 -2
View File
@@ -39,7 +39,7 @@
* Segway controller using control library
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
@@ -106,7 +106,7 @@ int segway_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn_cmd("segway",
deamon_task = px4_task_spawn_cmd("segway",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
5120,
src/modules/sensors/sensors.cpp
+3 -3
View File
@@ -46,7 +46,7 @@
* @author Anton Babushkin <anton@px4.io>
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <fcntl.h>
#include <poll.h>
@@ -640,7 +640,7 @@ Sensors::~Sensors()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_sensors_task);
px4_task_delete(_sensors_task);
break;
}
} while (_sensors_task != -1);
@@ -2235,7 +2235,7 @@ Sensors::start()
ASSERT(_sensors_task == -1);
/* start the task */
_sensors_task = task_spawn_cmd("sensors_task",
_sensors_task = px4_task_spawn_cmd("sensors_task",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
src/modules/uORB/uORB.cpp
+2 -2
View File
@@ -36,7 +36,7 @@
* A lightweight object broker.
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <drivers/device/device.h>
@@ -965,7 +965,7 @@ latency_test(orb_id_t T, bool print)
/* test pub / sub latency */
int pubsub_task = task_spawn_cmd("uorb_latency",
int pubsub_task = px4_task_spawn_cmd("uorb_latency",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1500,
src/modules/uavcan/uavcan_main.cpp
+3 -3
View File
@@ -31,7 +31,7 @@
*
****************************************************************************/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <cstdlib>
#include <cstring>
@@ -109,7 +109,7 @@ UavcanNode::~UavcanNode()
/* if we have given up, kill it */
if (--i == 0) {
task_delete(_task);
px4_task_delete(_task);
break;
}
@@ -194,7 +194,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* Start the task. Normally it should never exit.
*/
static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
_instance->_task = px4_task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
static_cast<main_t>(run_trampoline), nullptr);
if (_instance->_task < 0) {
src/modules/vtol_att_control/vtol_att_control_main.cpp
+3 -3
View File
@@ -44,7 +44,7 @@
*
*/
#include <nuttx/config.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -298,7 +298,7 @@ VtolAttitudeControl::~VtolAttitudeControl()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_control_task);
px4_task_delete(_control_task);
break;
}
} while (_control_task != -1);
@@ -859,7 +859,7 @@ VtolAttitudeControl::start()
ASSERT(_control_task == -1);
/* start the task */
_control_task = task_spawn_cmd("vtol_att_control",
_control_task = px4_task_spawn_cmd("vtol_att_control",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2048,