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system: never call task_delete on nuttx, never force stop tasks

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This commit is contained in:
Thomas Debrunner 2024-06-20 13:29:08 +02:00
parent e4fc3022f2
commit eba9276e6f
2 changed files with 6 additions and 16 deletions
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18
platforms/common/include/px4_platform_common/module.h
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@ -239,21 +239,9 @@ public:
unlock_module();
px4_usleep(10000); // 10 ms
lock_module();
if (++i > 500 && _task_id != -1) { // wait at most 5 sec
PX4_ERR("timeout, forcing stop");
if (_task_id != task_id_is_work_queue) {
px4_task_delete(_task_id);
}
_task_id = -1;
delete _object.load();
_object.store(nullptr);
ret = -1;
break;
i++;
if (i % 500 == 0) {
PX4_INFO("Waiting for task to stop...");
}
} while (_task_id != -1);

4
platforms/nuttx/src/px4/common/tasks.cpp
View File

@ -45,6 +45,7 @@
#include <nuttx/kthread.h>
#include <sys/wait.h>
#include <syslog.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
@ -88,7 +89,8 @@ int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_
int px4_task_delete(int pid)
{
return task_delete(pid);
syslog(LOG_ERR, "Ignoring force task delete on NuttX\n");
return ERROR;
}
const char *px4_get_taskname(void)