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-rw-r--r--apps/ardrone_interface/ardrone_interface.c9
-rw-r--r--apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c9
-rw-r--r--apps/commander/commander.c7
-rw-r--r--apps/examples/px4_deamon_app/px4_deamon_app.c7
-rw-r--r--apps/fixedwing_control/fixedwing_control.c8
-rw-r--r--apps/gps/gps.c9
-rw-r--r--apps/mavlink/mavlink.c15
-rw-r--r--apps/multirotor_att_control/multirotor_att_control_main.c8
-rw-r--r--apps/px4/fmu/fmu.cpp9
-rw-r--r--apps/sdlog/sdlog.c9
-rw-r--r--apps/sensors/sensors.cpp11
-rw-r--r--apps/systemcmds/led/led.c14
-rw-r--r--apps/systemlib/systemlib.c31
-rw-r--r--apps/systemlib/systemlib.h8
14 files changed, 130 insertions, 24 deletions
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
index 8ed6db664..74b32c4af 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/apps/ardrone_interface/ardrone_interface.c
@@ -56,6 +56,8 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
+#include <systemlib/systemlib.h>
+
#include "ardrone_motor_control.h"
__EXPORT int ardrone_interface_main(int argc, char *argv[]);
@@ -112,7 +114,12 @@ int ardrone_interface_main(int argc, char *argv[])
}
thread_should_exit = false;
- ardrone_interface_task = task_create("ardrone_interface", SCHED_PRIORITY_MAX - 15, 4096, ardrone_interface_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ ardrone_interface_task = task_spawn("ardrone_interface",
+ SCHED_RR,
+ SCHED_PRIORITY_MAX - 15,
+ 4096,
+ ardrone_interface_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index 867b484e1..e5907f961 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -60,6 +60,8 @@
#include <uORB/topics/vehicle_attitude.h>
#include <arch/board/up_hrt.h>
+#include <systemlib/systemlib.h>
+
#include "codegen/attitudeKalmanfilter_initialize.h"
#include "codegen/attitudeKalmanfilter.h"
@@ -150,7 +152,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
}
thread_should_exit = false;
- attitude_estimator_ekf_task = task_create("attitude_estimator_ekf", SCHED_PRIORITY_DEFAULT, 20000, attitude_estimator_ekf_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
+ SCHED_RR,
+ SCHED_PRIORITY_DEFAULT,
+ 20000,
+ attitude_estimator_ekf_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 960c5d383..3e188eb63 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -949,7 +949,12 @@ int commander_main(int argc, char *argv[])
}
thread_should_exit = false;
- deamon_task = task_create("commander", SCHED_PRIORITY_MAX - 50, 4096, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ deamon_task = task_spawn("commander",
+ SCHED_RR,
+ SCHED_PRIORITY_MAX - 50,
+ 4096,
+ commander_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/apps/examples/px4_deamon_app/px4_deamon_app.c
index 053163789..6068df5a3 100644
--- a/apps/examples/px4_deamon_app/px4_deamon_app.c
+++ b/apps/examples/px4_deamon_app/px4_deamon_app.c
@@ -91,7 +91,12 @@ int px4_deamon_app_main(int argc, char *argv[])
}
thread_should_exit = false;
- deamon_task = task_create("deamon", SCHED_PRIORITY_DEFAULT, 4096, px4_deamon_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ deamon_task = task_spawn("deamon",
+ SCHED_RR,
+ SCHED_PRIORITY_DEFAULT,
+ 4096,
+ px4_deamon_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c
index beabc1142..81ec4ca0b 100644
--- a/apps/fixedwing_control/fixedwing_control.c
+++ b/apps/fixedwing_control/fixedwing_control.c
@@ -60,6 +60,7 @@
#include <systemlib/param/param.h>
#include <systemlib/pid/pid.h>
#include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
#include <uORB/topics/debug_key_value.h>
static bool thread_should_exit = false; /**< Deamon exit flag */
@@ -414,7 +415,12 @@ int fixedwing_control_main(int argc, char *argv[])
}
thread_should_exit = false;
- deamon_task = task_create("fixedwing_control", SCHED_PRIORITY_MAX - 20, 4096, fixedwing_control_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ deamon_task = task_spawn("fixedwing_control",
+ SCHED_RR,
+ SCHED_PRIORITY_MAX - 20,
+ 4096,
+ fixedwing_control_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
diff --git a/apps/gps/gps.c b/apps/gps/gps.c
index 976beeaab..8304c72e1 100644
--- a/apps/gps/gps.c
+++ b/apps/gps/gps.c
@@ -57,6 +57,8 @@
#include <v1.0/common/mavlink.h>
#include <mavlink/mavlink_log.h>
+#include <systemlib/systemlib.h>
+
static bool thread_should_exit; /**< Deamon status flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
@@ -140,7 +142,12 @@ int gps_main(int argc, char *argv[])
}
thread_should_exit = false;
- deamon_task = task_create("gps", SCHED_PRIORITY_DEFAULT, 4096, gps_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ deamon_task = task_spawn("gps",
+ SCHED_RR,
+ SCHED_PRIORITY_DEFAULT,
+ 4096,
+ gps_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index ea1c511f9..117387f36 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -75,7 +75,9 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
+
#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
#include "waypoints.h"
#include "mavlink_log.h"
@@ -203,7 +205,7 @@ int mavlink_missionlib_send_gcs_string(const char *string);
uint64_t mavlink_missionlib_get_system_timestamp(void);
void handleMessage(mavlink_message_t *msg);
-static void mavlink_update_system();
+static void mavlink_update_system(void);
/**
* Enable / disable Hardware in the Loop simulation mode.
@@ -1549,9 +1551,9 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
return uart;
}
-void mavlink_update_system()
+void mavlink_update_system(void)
{
- static initialized = false;
+ static bool initialized = false;
param_t param_system_id;
param_t param_component_id;
param_t param_system_type;
@@ -1866,7 +1868,12 @@ int mavlink_main(int argc, char *argv[])
}
thread_should_exit = false;
- mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 6000, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ mavlink_task = task_spawn("mavlink",
+ SCHED_RR,
+ SCHED_PRIORITY_DEFAULT,
+ 6000,
+ mavlink_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index ebd9911a3..9acdc6fd3 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -67,6 +67,7 @@
#include <uORB/topics/actuator_controls.h>
#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
#include "multirotor_attitude_control.h"
#include "multirotor_rate_control.h"
@@ -350,7 +351,12 @@ int multirotor_att_control_main(int argc, char *argv[])
if (!strcmp(argv[1+optioncount], "start")) {
thread_should_exit = false;
- mc_task = task_create("multirotor_att_control", SCHED_PRIORITY_MAX - 15, 2048, mc_thread_main, NULL);
+ mc_task = task_spawn("multirotor_att_control",
+ SCHED_RR,
+ SCHED_PRIORITY_MAX - 15,
+ 2048,
+ mc_thread_main,
+ NULL);
exit(0);
}
diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index 48d338c99..eeef2f914 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -66,6 +66,8 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
+#include <systemlib/systemlib.h>
+
class FMUServo : public device::CDev
{
public:
@@ -169,7 +171,12 @@ FMUServo::init()
return ret;
/* start the IO interface task */
- _task = task_create("fmuservo", SCHED_PRIORITY_DEFAULT, 1024, (main_t)&FMUServo::task_main_trampoline, nullptr);
+ _task = task_spawn("fmuservo",
+ SCHED_RR,
+ SCHED_PRIORITY_DEFAULT,
+ 1024,
+ (main_t)&FMUServo::task_main_trampoline,
+ nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c
index f1c1f9a23..f4af17597 100644
--- a/apps/sdlog/sdlog.c
+++ b/apps/sdlog/sdlog.c
@@ -61,6 +61,8 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_command.h>
+#include <systemlib/systemlib.h>
+
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
@@ -120,7 +122,12 @@ int sdlog_main(int argc, char *argv[])
}
thread_should_exit = false;
- deamon_task = task_create("sdlog", SCHED_PRIORITY_DEFAULT - 30, 4096, sdlog_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ deamon_task = task_spawn("sdlog",
+ SCHED_RR,
+ SCHED_PRIORITY_DEFAULT - 30,
+ 4096,
+ sdlog_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index f81dfa9b8..8c943cca2 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -1175,11 +1175,12 @@ Sensors::start()
ASSERT(_sensors_task == -1);
/* start the task */
- _sensors_task = task_create("sensors_task",
- SCHED_PRIORITY_MAX - 5,
- 6000, /* XXX may be excesssive */
- (main_t)&Sensors::task_main_trampoline,
- nullptr);
+ _sensors_task = task_spawn("sensors_task",
+ SCHED_RR,
+ SCHED_PRIORITY_MAX - 5,
+ 6000, /* XXX may be excesssive */
+ (main_t)&Sensors::task_main_trampoline,
+ nullptr);
if (_sensors_task < 0) {
warn("task start failed");
diff --git a/apps/systemcmds/led/led.c b/apps/systemcmds/led/led.c
index a6d73210a..da0d99964 100644
--- a/apps/systemcmds/led/led.c
+++ b/apps/systemcmds/led/led.c
@@ -53,6 +53,9 @@
#include <arch/board/up_hrt.h>
#include <arch/board/drv_led.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
__EXPORT int led_main(int argc, char *argv[]);
@@ -61,7 +64,7 @@ static bool thread_running = false; /**< Deamon status flag */
static int led_task; /**< Handle of deamon task / thread */
static int leds;
-static int led_init()
+static int led_init(void)
{
leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
@@ -76,7 +79,7 @@ static int led_init()
return 0;
}
-static void led_deinit()
+static void led_deinit(void)
{
close(leds);
}
@@ -144,7 +147,12 @@ int led_main(int argc, char *argv[])
}
thread_should_exit = false;
- led_task = task_create("led", SCHED_PRIORITY_MAX - 15, 4096, led_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+ led_task = task_spawn("led",
+ SCHED_RR,
+ SCHED_PRIORITY_MAX - 15,
+ 4096,
+ led_thread_main,
+ (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
index 4c7aae83e..3d46a17a8 100644
--- a/apps/systemlib/systemlib.c
+++ b/apps/systemlib/systemlib.c
@@ -68,10 +68,10 @@ const struct __multiport_info multiport_info = {
****************************************************************************/
/****************************************************************************
- * Public Functions
+ * Private Functions
****************************************************************************/
-void kill_task(FAR _TCB *tcb, FAR void *arg);
+static void kill_task(FAR _TCB *tcb, FAR void *arg);
/****************************************************************************
* user_start
@@ -116,11 +116,36 @@ void killall()
sched_foreach(kill_task, NULL);
}
-void kill_task(FAR _TCB *tcb, FAR void *arg)
+static void kill_task(FAR _TCB *tcb, FAR void *arg)
{
kill(tcb->pid, SIGUSR1);
}
+int task_spawn(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
+{
+ int pid;
+
+ sched_lock();
+
+ /* create the task */
+ pid = task_create(name, priority, stack_size, entry, argv);
+
+ if (pid > 0) {
+
+ /* configure the scheduler */
+ struct sched_param param;
+
+ param.sched_priority = priority;
+ sched_setscheduler(pid, scheduler, &param);
+
+ /* XXX do any other private task accounting here */
+ }
+
+ sched_unlock();
+
+ return pid;
+}
+
#define PX4_BOARD_ID_FMU (5)
int fmu_get_board_info(struct fmu_board_info_s *info)
diff --git a/apps/systemlib/systemlib.h b/apps/systemlib/systemlib.h
index add47f440..da1524435 100644
--- a/apps/systemlib/systemlib.h
+++ b/apps/systemlib/systemlib.h
@@ -50,6 +50,14 @@ __EXPORT int reboot(void);
/** Sends SIGUSR1 to all processes */
__EXPORT void killall(void);
+/** Starts a task and performs any specific accounting, scheduler setup, etc. */
+__EXPORT int task_spawn(const char *name,
+ int priority,
+ int scheduler,
+ int stack_size,
+ main_t entry,
+ const char *argv[]);
+
enum MULT_PORTS {
MULT_0_US2_RXTX = 0,
MULT_1_US2_FLOW,
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-17 06:17:05 +0000