tasks.cpp
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/****************************************************************************
*
* 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 tasks.cpp
* Implementation of existing task API for NuttX
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/tasks.h>
#include <nuttx/board.h>
#include <sys/wait.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <string.h>
#include <sched.h>
#include <errno.h>
#include <stdbool.h>
int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char *const argv[])
{
sched_lock();
#if !defined(CONFIG_DISABLE_ENVIRON)
/* None of the modules access the environment variables (via getenv() for instance), so delete them
* all. They are only used within the startup script, and NuttX automatically exports them to the children
* tasks.
* This frees up a considerable amount of RAM.
*/
clearenv();
#endif
/* create the task */
int pid = task_create(name, priority, stack_size, entry, argv);
if (pid > 0) {
/* configure the scheduler */
struct sched_param param = { .sched_priority = priority };
sched_setscheduler(pid, scheduler, ¶m);
}
sched_unlock();
return pid;
}
int px4_task_delete(int pid)
{
return task_delete(pid);
}
const char *px4_get_taskname(void)
{
#if CONFIG_TASK_NAME_SIZE > 0
FAR struct tcb_s *thisproc = nxsched_self();
return thisproc->name;
#else
return "app";
#endif
}