Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-27 10:17:45 +08:00
Code Issues Actions 20 Packages Projects Releases Wiki Activity

Reverted: Use OS independent API for task creation/deletion

Browse Source 
Keep existing API use in code. Bind the use of the OS independent
implementation in the systemlib layer.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-03-11 11:52:18 -07:00
parent ddb32742eb
commit bf429188b4
32 changed files with 78 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/gps.cpp
+3 -3
View File
@@ -51,7 +51,7 @@
#include <math.h> #include <math.h>
#include <unistd.h> #include <unistd.h>
#include <fcntl.h> #include <fcntl.h>
#include <px4_tasks.h> #include <nuttx/config.h>
#include <nuttx/arch.h> #include <nuttx/arch.h>
#include <arch/board/board.h> #include <arch/board/board.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
@@ -213,7 +213,7 @@ GPS::~GPS()
/* well, kill it anyway, though this will probably crash */ /* well, kill it anyway, though this will probably crash */
if (_task != -1) if (_task != -1)
px4_task_delete(_task); task_delete(_task);
g_dev = nullptr; g_dev = nullptr;
@@ -229,7 +229,7 @@ GPS::init()
goto out; goto out;
/* start the GPS driver worker task */ /* start the GPS driver worker task */
_task = px4_task_spawn_cmd("gps", SCHED_DEFAULT, _task = task_spawn_cmd("gps", SCHED_DEFAULT,
SCHED_PRIORITY_SLOW_DRIVER, 1500, (main_t)&GPS::task_main_trampoline, nullptr); SCHED_PRIORITY_SLOW_DRIVER, 1500, (main_t)&GPS::task_main_trampoline, nullptr);
if (_task < 0) { if (_task < 0) {
src/drivers/hil/hil.cpp
+3 -3
View File
@@ -48,7 +48,7 @@
* driver. Use instead the normal FMU or IO driver. * driver. Use instead the normal FMU or IO driver.
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <sys/types.h> #include <sys/types.h>
#include <stdint.h> #include <stdint.h>
@@ -188,7 +188,7 @@ HIL::~HIL()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (--i == 0) { if (--i == 0) {
px4_task_delete(_task); task_delete(_task);
break; break;
} }
@@ -228,7 +228,7 @@ HIL::init()
// gpio_reset(); // gpio_reset();
/* start the HIL interface task */ /* start the HIL interface task */
_task = px4_task_spawn_cmd("fmuhil", _task = task_spawn_cmd("fmuhil",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT, SCHED_PRIORITY_DEFAULT,
1200, 1200,
src/drivers/hott/hott_sensors/hott_sensors.cpp
+2 -2
View File
@@ -42,7 +42,7 @@
*/ */
#include <fcntl.h> #include <fcntl.h>
#include <px4_tasks.h> #include <nuttx/config.h>
#include <poll.h> #include <poll.h>
#include <stdlib.h> #include <stdlib.h>
#include <stdio.h> #include <stdio.h>
@@ -209,7 +209,7 @@ hott_sensors_main(int argc, char *argv[])
} }
thread_should_exit = false; thread_should_exit = false;
deamon_task = px4_task_spawn_cmd(daemon_name, deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT, SCHED_PRIORITY_DEFAULT,
1024, 1024,
src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+2 -2
View File
@@ -44,7 +44,7 @@
*/ */
#include <fcntl.h> #include <fcntl.h>
#include <px4_tasks.h> #include <nuttx/config.h>
#include <poll.h> #include <poll.h>
#include <stdlib.h> #include <stdlib.h>
#include <stdio.h> #include <stdio.h>
@@ -235,7 +235,7 @@ hott_telemetry_main(int argc, char *argv[])
} }
thread_should_exit = false; thread_should_exit = false;
deamon_task = px4_task_spawn_cmd(daemon_name, deamon_task = task_spawn_cmd(daemon_name,
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT, SCHED_PRIORITY_DEFAULT,
2048, 2048,
src/drivers/md25/md25_main.cpp
+2 -2
View File
@@ -44,7 +44,7 @@
* *
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <unistd.h> #include <unistd.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
@@ -110,7 +110,7 @@ int md25_main(int argc, char *argv[])
} }
thread_should_exit = false; thread_should_exit = false;
deamon_task = px4_task_spawn_cmd("md25", deamon_task = task_spawn_cmd("md25",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10, SCHED_PRIORITY_MAX - 10,
2048, 2048,
src/drivers/mkblctrl/mkblctrl.cpp
+3 -3
View File
@@ -41,7 +41,7 @@
* *
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <drivers/device/i2c.h> #include <drivers/device/i2c.h>
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
@@ -258,7 +258,7 @@ MK::~MK()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (--i == 0) { if (--i == 0) {
px4_task_delete(_task); task_delete(_task);
break; break;
} }
@@ -302,7 +302,7 @@ MK::init(unsigned motors)
} }
/* start the IO interface task */ /* start the IO interface task */
_task = px4_task_spawn_cmd("mkblctrl", _task = task_spawn_cmd("mkblctrl",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20, SCHED_PRIORITY_MAX - 20,
1500, 1500,
src/drivers/px4fmu/fmu.cpp
+3 -3
View File
@@ -37,7 +37,7 @@
* Driver/configurator for the PX4 FMU multi-purpose port on v1 and v2 boards. * Driver/configurator for the PX4 FMU multi-purpose port on v1 and v2 boards.
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <sys/types.h> #include <sys/types.h>
#include <stdint.h> #include <stdint.h>
@@ -302,7 +302,7 @@ PX4FMU::~PX4FMU()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (--i == 0) { if (--i == 0) {
px4_task_delete(_task); task_delete(_task);
break; break;
} }
@@ -341,7 +341,7 @@ PX4FMU::init()
gpio_reset(); gpio_reset();
/* start the IO interface task */ /* start the IO interface task */
_task = px4_task_spawn_cmd("fmuservo", _task = task_spawn_cmd("fmuservo",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT, SCHED_PRIORITY_DEFAULT,
1600, 1600,
src/drivers/px4io/px4io.cpp
+3 -3
View File
@@ -38,7 +38,7 @@
* PX4IO is connected via I2C or DMA enabled high-speed UART. * PX4IO is connected via I2C or DMA enabled high-speed UART.
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <sys/types.h> #include <sys/types.h>
#include <stdint.h> #include <stdint.h>
@@ -550,7 +550,7 @@ PX4IO::~PX4IO()
/* well, kill it anyway, though this will probably crash */ /* well, kill it anyway, though this will probably crash */
if (_task != -1) if (_task != -1)
px4_task_delete(_task); task_delete(_task);
if (_interface != nullptr) if (_interface != nullptr)
delete _interface; delete _interface;
@@ -841,7 +841,7 @@ PX4IO::init()
} }
/* start the IO interface task */ /* start the IO interface task */
_task = px4_task_spawn_cmd("px4io", _task = task_spawn_cmd("px4io",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_ACTUATOR_OUTPUTS, SCHED_PRIORITY_ACTUATOR_OUTPUTS,
1800, 1800,
src/drivers/roboclaw/roboclaw_main.cpp
+2 -2
View File
@@ -43,7 +43,7 @@
* *
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <unistd.h> #include <unistd.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
@@ -105,7 +105,7 @@ int roboclaw_main(int argc, char *argv[])
} }
thread_should_exit = false; thread_should_exit = false;
deamon_task = px4_task_spawn_cmd("roboclaw", deamon_task = task_spawn_cmd("roboclaw",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10, SCHED_PRIORITY_MAX - 10,
2048, 2048,
src/examples/publisher/publisher_start_nuttx.cpp
+1 -2
View File
@@ -36,7 +36,6 @@
* *
* @author Thomas Gubler <thomasgubler@gmail.com> * @author Thomas Gubler <thomasgubler@gmail.com>
*/ */
#include <px4_tasks.h>
#include <string.h> #include <string.h>
#include <cstdlib> #include <cstdlib>
#include <systemlib/err.h> #include <systemlib/err.h>
@@ -69,7 +68,7 @@ int publisher_main(int argc, char *argv[])
task_should_exit = false; task_should_exit = false;
daemon_task = px4_task_spawn_cmd("publisher", daemon_task = task_spawn_cmd("publisher",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
2000, 2000,
src/examples/rover_steering_control/main.cpp
+3 -3
View File
@@ -39,7 +39,7 @@
* @author Lorenz Meier <lorenz@px4.io> * @author Lorenz Meier <lorenz@px4.io>
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@@ -408,7 +408,7 @@ usage(const char *reason)
* Makefile does only apply to this management task. * Makefile does only apply to this management task.
* *
* The actual stack size should be set in the call * The actual stack size should be set in the call
* to px4_task_spawn_cmd(). * to task_spawn_cmd().
*/ */
int rover_steering_control_main(int argc, char *argv[]) int rover_steering_control_main(int argc, char *argv[])
{ {
@@ -425,7 +425,7 @@ int rover_steering_control_main(int argc, char *argv[])
} }
thread_should_exit = false; thread_should_exit = false;
deamon_task = px4_task_spawn_cmd("rover_steering_control", deamon_task = task_spawn_cmd("rover_steering_control",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20, SCHED_PRIORITY_MAX - 20,
2048, 2048,
src/examples/subscriber/subscriber_start_nuttx.cpp
+1 -2
View File
@@ -36,7 +36,6 @@
* *
* @author Thomas Gubler <thomasgubler@gmail.com> * @author Thomas Gubler <thomasgubler@gmail.com>
*/ */
#include <px4_tasks.h>
#include <string.h> #include <string.h>
#include <cstdlib> #include <cstdlib>
#include <systemlib/err.h> #include <systemlib/err.h>
@@ -69,7 +68,7 @@ int subscriber_main(int argc, char *argv[])
task_should_exit = false; task_should_exit = false;
daemon_task = px4_task_spawn_cmd("subscriber", daemon_task = task_spawn_cmd("subscriber",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
2000, 2000,
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+3 -3
View File
@@ -41,7 +41,7 @@
* @author Thomas Gubler <thomasgubler@gmail.com> * @author Thomas Gubler <thomasgubler@gmail.com>
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <unistd.h> #include <unistd.h>
#include <stdlib.h> #include <stdlib.h>
#include <stdio.h> #include <stdio.h>
@@ -114,7 +114,7 @@ usage(const char *reason)
* Makefile does only apply to this management task. * Makefile does only apply to this management task.
* *
* The actual stack size should be set in the call * The actual stack size should be set in the call
* to px4_task_spawn_cmd(). * to task_spawn_cmd().
*/ */
int attitude_estimator_ekf_main(int argc, char *argv[]) int attitude_estimator_ekf_main(int argc, char *argv[])
{ {
@@ -131,7 +131,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
} }
thread_should_exit = false; thread_should_exit = false;
attitude_estimator_ekf_task = px4_task_spawn_cmd("attitude_estimator_ekf", attitude_estimator_ekf_task = task_spawn_cmd("attitude_estimator_ekf",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
7700, 7700,
src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+3 -3
View File
@@ -50,7 +50,7 @@
* [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008 * [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <unistd.h> #include <unistd.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@@ -132,7 +132,7 @@ usage(const char *reason)
* Makefile does only apply to this management task. * Makefile does only apply to this management task.
* *
* The actual stack size should be set in the call * The actual stack size should be set in the call
* to px4_task_spawn_cmd(). * to task_spawn_cmd().
*/ */
int attitude_estimator_so3_main(int argc, char *argv[]) int attitude_estimator_so3_main(int argc, char *argv[])
{ {
@@ -149,7 +149,7 @@ int attitude_estimator_so3_main(int argc, char *argv[])
} }
thread_should_exit = false; thread_should_exit = false;
attitude_estimator_so3_task = px4_task_spawn_cmd("attitude_estimator_so3", attitude_estimator_so3_task = task_spawn_cmd("attitude_estimator_so3",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
14000, 14000,
src/modules/bottle_drop/bottle_drop.cpp
+3 -3
View File
@@ -40,7 +40,7 @@
* @author Julian Oes <joes@student.ethz.ch> * @author Julian Oes <joes@student.ethz.ch>
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@@ -210,7 +210,7 @@ BottleDrop::~BottleDrop()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_main_task); task_delete(_main_task);
break; break;
} }
} while (_main_task != -1); } while (_main_task != -1);
@@ -225,7 +225,7 @@ BottleDrop::start()
ASSERT(_main_task == -1); ASSERT(_main_task == -1);
/* start the task */ /* start the task */
_main_task = px4_task_spawn_cmd("bottle_drop", _main_task = task_spawn_cmd("bottle_drop",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 15, SCHED_PRIORITY_DEFAULT + 15,
1500, 1500,
src/modules/commander/commander.cpp
+2 -2
View File
@@ -42,7 +42,7 @@
* @author Anton Babushkin <anton.babushkin@me.com> * @author Anton Babushkin <anton.babushkin@me.com>
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <pthread.h> #include <pthread.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
@@ -275,7 +275,7 @@ int commander_main(int argc, char *argv[])
} }
thread_should_exit = false; thread_should_exit = false;
daemon_task = px4_task_spawn_cmd("commander", daemon_task = task_spawn_cmd("commander",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40, SCHED_PRIORITY_MAX - 40,
3400, 3400,
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+3 -3
View File
@@ -43,7 +43,7 @@
#include "AttitudePositionEstimatorEKF.h" #include "AttitudePositionEstimatorEKF.h"
#include "estimator_22states.h" #include "estimator_22states.h"
#include <px4_tasks.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@@ -281,7 +281,7 @@ AttitudePositionEstimatorEKF::~AttitudePositionEstimatorEKF()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_estimator_task); task_delete(_estimator_task);
break; break;
} }
} while (_estimator_task != -1); } while (_estimator_task != -1);
@@ -1035,7 +1035,7 @@ int AttitudePositionEstimatorEKF::start()
ASSERT(_estimator_task == -1); ASSERT(_estimator_task == -1);
/* start the task */ /* start the task */
_estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator", _estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40, SCHED_PRIORITY_MAX - 40,
7500, 7500,
src/modules/fixedwing_backside/fixedwing_backside_main.cpp
+2 -2
View File
@@ -39,7 +39,7 @@
* Fixedwing backside controller using control library * Fixedwing backside controller using control library
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <unistd.h> #include <unistd.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
@@ -111,7 +111,7 @@ int fixedwing_backside_main(int argc, char *argv[])
thread_should_exit = false; thread_should_exit = false;
deamon_task = px4_task_spawn_cmd("fixedwing_backside", deamon_task = task_spawn_cmd("fixedwing_backside",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10, SCHED_PRIORITY_MAX - 10,
5120, 5120,
src/modules/fw_att_control/fw_att_control_main.cpp
+3 -3
View File
@@ -41,7 +41,7 @@
* *
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@@ -424,7 +424,7 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_control_task); task_delete(_control_task);
break; break;
} }
} while (_control_task != -1); } while (_control_task != -1);
@@ -1117,7 +1117,7 @@ FixedwingAttitudeControl::start()
ASSERT(_control_task == -1); ASSERT(_control_task == -1);
/* start the task */ /* start the task */
_control_task = px4_task_spawn_cmd("fw_att_control", _control_task = task_spawn_cmd("fw_att_control",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
1600, 1600,
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+3 -3
View File
@@ -51,7 +51,7 @@
* @author Thomas Gubler <thomasgubler@gmail.com> * @author Thomas Gubler <thomasgubler@gmail.com>
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@@ -542,7 +542,7 @@ FixedwingPositionControl::~FixedwingPositionControl()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_control_task); task_delete(_control_task);
break; break;
} }
} while (_control_task != -1); } while (_control_task != -1);
@@ -1621,7 +1621,7 @@ FixedwingPositionControl::start()
ASSERT(_control_task == -1); ASSERT(_control_task == -1);
/* start the task */ /* start the task */
_control_task = px4_task_spawn_cmd("fw_pos_control_l1", _control_task = task_spawn_cmd("fw_pos_control_l1",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
1600, 1600,
src/modules/land_detector/land_detector_main.cpp
+2 -3
View File
@@ -38,7 +38,6 @@
* @author Johan Jansen <jnsn.johan@gmail.com> * @author Johan Jansen <jnsn.johan@gmail.com>
*/ */
#include <px4_tasks.h> //usleep
#include <unistd.h> //usleep #include <unistd.h> //usleep
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
@@ -96,7 +95,7 @@ static void land_detector_stop()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_landDetectorTaskID); task_delete(_landDetectorTaskID);
break; break;
} }
} while (land_detector_task->isRunning()); } while (land_detector_task->isRunning());
@@ -137,7 +136,7 @@ static int land_detector_start(const char *mode)
} }
//Start new thread task //Start new thread task
_landDetectorTaskID = px4_task_spawn_cmd("land_detector", _landDetectorTaskID = task_spawn_cmd("land_detector",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT, SCHED_PRIORITY_DEFAULT,
1000, 1000,
src/modules/mavlink/mavlink_main.cpp
+3 -3
View File
@@ -39,7 +39,7 @@
* @author Anton Babushkin <anton.babushkin@me.com> * @author Anton Babushkin <anton.babushkin@me.com>
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@@ -242,7 +242,7 @@ Mavlink::~Mavlink()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
//TODO store main task handle in Mavlink instance to allow killing task //TODO store main task handle in Mavlink instance to allow killing task
//px4_task_delete(_mavlink_task); //task_delete(_mavlink_task);
break; break;
} }
} while (_task_running); } while (_task_running);
@@ -1618,7 +1618,7 @@ Mavlink::start(int argc, char *argv[])
// between the starting task and the spawned // between the starting task and the spawned
// task - start_helper() only returns // task - start_helper() only returns
// when the started task exits. // when the started task exits.
px4_task_spawn_cmd(buf, task_spawn_cmd(buf,
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT, SCHED_PRIORITY_DEFAULT,
2400, 2400,
src/modules/mc_att_control/mc_att_control_main.cpp
+3 -3
View File
@@ -53,7 +53,7 @@
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers. * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@@ -404,7 +404,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_control_task); task_delete(_control_task);
break; break;
} }
} while (_control_task != -1); } while (_control_task != -1);
@@ -905,7 +905,7 @@ MulticopterAttitudeControl::start()
ASSERT(_control_task == -1); ASSERT(_control_task == -1);
/* start the task */ /* start the task */
_control_task = px4_task_spawn_cmd("mc_att_control", _control_task = task_spawn_cmd("mc_att_control",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
1600, 1600,
src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp
+1 -2
View File
@@ -36,7 +36,6 @@
* *
* @author Thomas Gubler <thomasgubler@gmail.com> * @author Thomas Gubler <thomasgubler@gmail.com>
*/ */
#include <px4_tasks.h>
#include <string.h> #include <string.h>
#include <cstdlib> #include <cstdlib>
#include <systemlib/err.h> #include <systemlib/err.h>
@@ -69,7 +68,7 @@ int mc_att_control_m_main(int argc, char *argv[])
task_should_exit = false; task_should_exit = false;
daemon_task = px4_task_spawn_cmd("mc_att_control_m", daemon_task = task_spawn_cmd("mc_att_control_m",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
1900, 1900,
src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -3
View File
@@ -50,7 +50,6 @@
*/ */
#include <px4.h> #include <px4.h>
#include <px4_tasks.h>
#include <functional> #include <functional>
#include <cstdio> #include <cstdio>
#include <stdlib.h> #include <stdlib.h>
@@ -385,7 +384,7 @@ MulticopterPositionControl::~MulticopterPositionControl()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_control_task); task_delete(_control_task);
break; break;
} }
} while (_control_task != -1); } while (_control_task != -1);
@@ -1424,7 +1423,7 @@ MulticopterPositionControl::start()
ASSERT(_control_task == -1); ASSERT(_control_task == -1);
/* start the task */ /* start the task */
_control_task = px4_task_spawn_cmd("mc_pos_control", _control_task = task_spawn_cmd("mc_pos_control",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
1600, 1600,
src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp
+1 -2
View File
@@ -36,7 +36,6 @@
* *
* @author Thomas Gubler <thomasgubler@gmail.com> * @author Thomas Gubler <thomasgubler@gmail.com>
*/ */
#include <px4_tasks.h>
#include <string.h> #include <string.h>
#include <cstdlib> #include <cstdlib>
#include <systemlib/err.h> #include <systemlib/err.h>
@@ -69,7 +68,7 @@ int mc_pos_control_m_main(int argc, char *argv[])
task_should_exit = false; task_should_exit = false;
daemon_task = px4_task_spawn_cmd("mc_pos_control_m", daemon_task = task_spawn_cmd("mc_pos_control_m",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
2500, 2500,
src/modules/navigator/navigator_main.cpp
+3 -3
View File
@@ -43,7 +43,7 @@
* @author Thomas Gubler <thomasgubler@gmail.com> * @author Thomas Gubler <thomasgubler@gmail.com>
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
@@ -174,7 +174,7 @@ Navigator::~Navigator()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_navigator_task); task_delete(_navigator_task);
break; break;
} }
} while (_navigator_task != -1); } while (_navigator_task != -1);
@@ -515,7 +515,7 @@ Navigator::start()
ASSERT(_navigator_task == -1); ASSERT(_navigator_task == -1);
/* start the task */ /* start the task */
_navigator_task = px4_task_spawn_cmd("navigator", _navigator_task = task_spawn_cmd("navigator",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 20, SCHED_PRIORITY_DEFAULT + 20,
1800, 1800,
src/modules/segway/segway_main.cpp
+2 -2
View File
@@ -39,7 +39,7 @@
* Segway controller using control library * Segway controller using control library
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <unistd.h> #include <unistd.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
@@ -106,7 +106,7 @@ int segway_main(int argc, char *argv[])
thread_should_exit = false; thread_should_exit = false;
deamon_task = px4_task_spawn_cmd("segway", deamon_task = task_spawn_cmd("segway",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10, SCHED_PRIORITY_MAX - 10,
5120, 5120,
src/modules/sensors/sensors.cpp
+3 -3
View File
@@ -46,7 +46,7 @@
* @author Anton Babushkin <anton@px4.io> * @author Anton Babushkin <anton@px4.io>
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <fcntl.h> #include <fcntl.h>
#include <poll.h> #include <poll.h>
@@ -640,7 +640,7 @@ Sensors::~Sensors()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_sensors_task); task_delete(_sensors_task);
break; break;
} }
} while (_sensors_task != -1); } while (_sensors_task != -1);
@@ -2235,7 +2235,7 @@ Sensors::start()
ASSERT(_sensors_task == -1); ASSERT(_sensors_task == -1);
/* start the task */ /* start the task */
_sensors_task = px4_task_spawn_cmd("sensors_task", _sensors_task = task_spawn_cmd("sensors_task",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
2000, 2000,
src/modules/uORB/uORB.cpp
+2 -2
View File
@@ -36,7 +36,7 @@
* A lightweight object broker. * A lightweight object broker.
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <drivers/device/device.h> #include <drivers/device/device.h>
@@ -965,7 +965,7 @@ latency_test(orb_id_t T, bool print)
/* test pub / sub latency */ /* test pub / sub latency */
int pubsub_task = px4_task_spawn_cmd("uorb_latency", int pubsub_task = task_spawn_cmd("uorb_latency",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_MAX - 5,
1500, 1500,
src/modules/uavcan/uavcan_main.cpp
+3 -3
View File
@@ -31,7 +31,7 @@
* *
****************************************************************************/ ****************************************************************************/
#include <px4_tasks.h> #include <nuttx/config.h>
#include <cstdlib> #include <cstdlib>
#include <cstring> #include <cstring>
@@ -109,7 +109,7 @@ UavcanNode::~UavcanNode()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (--i == 0) { if (--i == 0) {
px4_task_delete(_task); task_delete(_task);
break; break;
} }
@@ -194,7 +194,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* Start the task. Normally it should never exit. * Start the task. Normally it should never exit.
*/ */
static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();}; static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
_instance->_task = px4_task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize, _instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
static_cast<main_t>(run_trampoline), nullptr); static_cast<main_t>(run_trampoline), nullptr);
if (_instance->_task < 0) { if (_instance->_task < 0) {
src/modules/vtol_att_control/vtol_att_control_main.cpp
+3 -3
View File
@@ -44,7 +44,7 @@
* *
*/ */
#include <px4_tasks.h> #include <nuttx/config.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
@@ -298,7 +298,7 @@ VtolAttitudeControl::~VtolAttitudeControl()
/* if we have given up, kill it */ /* if we have given up, kill it */
if (++i > 50) { if (++i > 50) {
px4_task_delete(_control_task); task_delete(_control_task);
break; break;
} }
} while (_control_task != -1); } while (_control_task != -1);
@@ -859,7 +859,7 @@ VtolAttitudeControl::start()
ASSERT(_control_task == -1); ASSERT(_control_task == -1);
/* start the task */ /* start the task */
_control_task = px4_task_spawn_cmd("vtol_att_control", _control_task = task_spawn_cmd("vtol_att_control",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10, SCHED_PRIORITY_MAX - 10,
2048, 2048,