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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Jukka Laitinen
3aab4d2daf
Also task name is accessible only in kernel side for protected/kernel build Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
104 lines
3.3 KiB
C++
104 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file tasks.cpp
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* Implementation of existing task API for NuttX
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/tasks.h>
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#include <nuttx/board.h>
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#include <nuttx/kthread.h>
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#include <sys/wait.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <signal.h>
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#include <string.h>
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#include <sched.h>
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#include <errno.h>
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#include <stdbool.h>
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int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char *const argv[])
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{
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sched_lock();
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#if !defined(CONFIG_DISABLE_ENVIRON)
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/* None of the modules access the environment variables (via getenv() for instance), so delete them
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* all. They are only used within the startup script, and NuttX automatically exports them to the children
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* tasks.
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* This frees up a considerable amount of RAM.
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*/
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clearenv();
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#endif
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#if !defined(__KERNEL__)
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/* create the task */
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int pid = task_create(name, priority, stack_size, entry, argv);
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#else
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int pid = kthread_create(name, priority, stack_size, entry, argv);
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#endif
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if (pid > 0) {
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/* configure the scheduler */
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struct sched_param param = { .sched_priority = priority };
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sched_setscheduler(pid, scheduler, ¶m);
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}
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sched_unlock();
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return pid;
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}
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int px4_task_delete(int pid)
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{
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return task_delete(pid);
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}
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const char *px4_get_taskname(void)
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{
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#if CONFIG_TASK_NAME_SIZE > 0 && (defined(__KERNEL__) || defined(CONFIG_BUILD_FLAT))
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FAR struct tcb_s *thisproc = nxsched_self();
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return thisproc->name;
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#else
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return "app";
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#endif
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}
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