Add new 'task_spawn' interface for starting new tasks in the PX4 world

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);
 	}
 

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);
 	}
 

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);
 	}

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);
 	}

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);
 	}

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);
 	}

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);
 	}
 

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);
 	}
 

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);

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);
 	}

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");

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);
 	}

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)

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,