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Diffstat (limited to 'src/modules/systemlib/systemlib.c')
-rw-r--r-- | src/modules/systemlib/systemlib.c | 91 |
1 files changed, 91 insertions, 0 deletions
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c new file mode 100644 index 000000000..afb7eca29 --- /dev/null +++ b/src/modules/systemlib/systemlib.c @@ -0,0 +1,91 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file systemlib.c + * Implementation of commonly used low-level system-call like functions. + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <fcntl.h> +#include <sched.h> +#include <signal.h> +#include <sys/stat.h> +#include <unistd.h> +#include <float.h> +#include <string.h> + +#include "systemlib.h" + +static void kill_task(FAR _TCB *tcb, FAR void *arg); + +void killall() +{ +// printf("Sending SIGUSR1 to all processes now\n"); + + /* iterate through all tasks and send kill signal */ + sched_foreach(kill_task, NULL); +} + +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, ¶m); + + /* XXX do any other private task accounting here before the task starts */ + } + + sched_unlock(); + + return pid; +} |