Removed extra abstracton layer in systemlib

The calls to task_spawn_cmd, kill_all, and systemreset  were wrappers
around the px4_{task_spawn_cmd|kill_all|systemreset} implementations.

Removed the wrappers and changed all calls to the px4_ equivalents.

NuttX specific code was moved into px4_tasks.h

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/drivers/ardrone_interface/ardrone_interface.c

@@ -121,7 +121,7 @@ int ardrone_interface_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		ardrone_interface_task = task_spawn_cmd("ardrone_interface",
+		ardrone_interface_task = px4_task_spawn_cmd("ardrone_interface",
 						    SCHED_DEFAULT,
 						    SCHED_PRIORITY_MAX - 15,
 						    1100,

src/drivers/frsky_telemetry/frsky_telemetry.c

@@ -216,7 +216,7 @@ int frsky_telemetry_main(int argc, char *argv[])
 			errx(0, "frsky_telemetry already running");
 
 		thread_should_exit = false;
-		frsky_task = task_spawn_cmd("frsky_telemetry",
+		frsky_task = px4_task_spawn_cmd("frsky_telemetry",
 					  SCHED_DEFAULT,
 					  SCHED_PRIORITY_DEFAULT,
 					  2000,

src/drivers/gps/gps.cpp

@@ -229,7 +229,7 @@ GPS::init()
 		goto out;
 
 	/* start the GPS driver worker task */
-	_task = task_spawn_cmd("gps", SCHED_DEFAULT,
+	_task = px4_task_spawn_cmd("gps", SCHED_DEFAULT,
 				SCHED_PRIORITY_SLOW_DRIVER, 1500, (main_t)&GPS::task_main_trampoline, nullptr);
 
 	if (_task < 0) {

src/drivers/hott/hott_sensors/hott_sensors.cpp

@@ -209,7 +209,7 @@ hott_sensors_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd(daemon_name,
+		deamon_task = px4_task_spawn_cmd(daemon_name,
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_DEFAULT,
 					     1024,

src/drivers/hott/hott_telemetry/hott_telemetry.cpp

@@ -235,7 +235,7 @@ hott_telemetry_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd(daemon_name,
+		deamon_task = px4_task_spawn_cmd(daemon_name,
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT,
 					 2048,

src/drivers/md25/md25_main.cpp

@@ -110,7 +110,7 @@ int md25_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("md25",
+		deamon_task = px4_task_spawn_cmd("md25",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,

src/drivers/mkblctrl/mkblctrl.cpp

@@ -302,7 +302,7 @@ MK::init(unsigned motors)
 	}
 
 	/* start the IO interface task */
-	_task = task_spawn_cmd("mkblctrl",
+	_task = px4_task_spawn_cmd("mkblctrl",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_MAX - 20,
 			       1500,

src/drivers/px4fmu/fmu.cpp

@@ -341,7 +341,7 @@ PX4FMU::init()
 	gpio_reset();
 
 	/* start the IO interface task */
-	_task = task_spawn_cmd("fmuservo",
+	_task = px4_task_spawn_cmd("fmuservo",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_DEFAULT,
 			       1600,

src/drivers/px4io/px4io.cpp

@@ -854,7 +854,7 @@ PX4IO::init()
 	}
 
 	/* start the IO interface task */
-	_task = task_spawn_cmd("px4io",
+	_task = px4_task_spawn_cmd("px4io",
 					SCHED_DEFAULT,
 					SCHED_PRIORITY_ACTUATOR_OUTPUTS,
 					1800,

src/drivers/roboclaw/roboclaw_main.cpp

@@ -105,7 +105,7 @@ int roboclaw_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("roboclaw",
+		deamon_task = px4_task_spawn_cmd("roboclaw",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,

src/examples/fixedwing_control/main.c

@@ -414,7 +414,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_px4_task_spawn_cmd().
  */
 int ex_fixedwing_control_main(int argc, char *argv[])
 {
@@ -431,7 +431,7 @@ int ex_fixedwing_control_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("ex_fixedwing_control",
+		deamon_task = px4_px4_task_spawn_cmd("ex_fixedwing_control",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 20,
 					     2048,

src/examples/flow_position_estimator/flow_position_estimator_main.c

@@ -95,7 +95,7 @@ static void usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_px4_task_spawn_cmd().
  */
 int flow_position_estimator_main(int argc, char *argv[])
 {
@@ -111,7 +111,7 @@ int flow_position_estimator_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		daemon_task = task_spawn_cmd("flow_position_estimator",
+		daemon_task = px4_px4_task_spawn_cmd("flow_position_estimator",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 5,
 					     4000,

src/examples/matlab_csv_serial/matlab_csv_serial.c

@@ -87,7 +87,7 @@ static void usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_px4_task_spawn_cmd().
  */
 int matlab_csv_serial_main(int argc, char *argv[])
 {
@@ -103,7 +103,7 @@ int matlab_csv_serial_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		daemon_task = task_spawn_cmd("matlab_csv_serial",
+		daemon_task = px4_px4_task_spawn_cmd("matlab_csv_serial",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 5,
 					     2000,

src/examples/publisher/publisher_start_nuttx.cpp

@@ -68,7 +68,7 @@ int publisher_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("publisher",
+		daemon_task = px4_task_spawn_cmd("publisher",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       2000,

src/examples/rover_steering_control/main.cpp

@@ -408,7 +408,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_px4_task_spawn_cmd().
  */
 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;
-		deamon_task = task_spawn_cmd("rover_steering_control",
+		deamon_task = px4_px4_task_spawn_cmd("rover_steering_control",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 20,
 					     2048,

src/examples/subscriber/subscriber_start_nuttx.cpp

@@ -68,7 +68,7 @@ int subscriber_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("subscriber",
+		daemon_task = px4_task_spawn_cmd("subscriber",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       2000,

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -113,7 +113,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_task_spawn_cmd().
  */
 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;
-		attitude_estimator_ekf_task = task_spawn_cmd("attitude_estimator_ekf",
+		attitude_estimator_ekf_task = px4_task_spawn_cmd("attitude_estimator_ekf",
 					      SCHED_DEFAULT,
 					      SCHED_PRIORITY_MAX - 5,
 					      7700,

src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp

@@ -132,7 +132,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_px4_task_spawn_cmd().
  */
 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;
-		attitude_estimator_so3_task = task_spawn_cmd("attitude_estimator_so3",
+		attitude_estimator_so3_task = px4_px4_task_spawn_cmd("attitude_estimator_so3",
 					      SCHED_DEFAULT,
 					      SCHED_PRIORITY_MAX - 5,
 					      14000,

src/modules/bottle_drop/bottle_drop.cpp

@@ -225,7 +225,7 @@ BottleDrop::start()
 	ASSERT(_main_task == -1);
 
 	/* start the task */
-	_main_task = task_spawn_cmd("bottle_drop",
+	_main_task = px4_task_spawn_cmd("bottle_drop",
 				    SCHED_DEFAULT,
 				    SCHED_PRIORITY_DEFAULT + 15,
 				    1500,

src/modules/commander/commander.cpp

@@ -269,7 +269,7 @@ int commander_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		daemon_task = task_spawn_cmd("commander",
+		daemon_task = px4_task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 40,
 					     3400,
@@ -2652,13 +2652,13 @@ void *commander_low_prio_loop(void *arg)
 						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
 						usleep(100000);
 						/* reboot */
-						systemreset(false);
+						px4_systemreset(false);
 
 					} else if (((int)(cmd.param1)) == 3) {
 						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
 						usleep(100000);
 						/* reboot to bootloader */
-						systemreset(true);
+						px4_systemreset(true);
 
 					} else {
 						answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -1038,7 +1038,7 @@ int AttitudePositionEstimatorEKF::start()
 	ASSERT(_estimator_task == -1);
 
 	/* start the task */
-	_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
+	_estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 40,
 					 7500,

src/modules/fixedwing_backside/fixedwing_backside_main.cpp

@@ -111,7 +111,7 @@ int fixedwing_backside_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 
-		deamon_task = task_spawn_cmd("fixedwing_backside",
+		deamon_task = px4_task_spawn_cmd("fixedwing_backside",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -1117,7 +1117,7 @@ FixedwingAttitudeControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("fw_att_control",
+	_control_task = px4_task_spawn_cmd("fw_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1600,

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -1621,7 +1621,7 @@ FixedwingPositionControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("fw_pos_control_l1",
+	_control_task = px4_task_spawn_cmd("fw_pos_control_l1",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1600,

src/modules/land_detector/land_detector_main.cpp

@@ -136,7 +136,7 @@ static int land_detector_start(const char *mode)
 	}
 
 	//Start new thread task
-	_landDetectorTaskID = task_spawn_cmd("land_detector",
+	_landDetectorTaskID = px4_task_spawn_cmd("land_detector",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_DEFAULT,
 					     1000,

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -906,7 +906,7 @@ MulticopterAttitudeControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("mc_att_control",
+	_control_task = px4_task_spawn_cmd("mc_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1500,

src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp

@@ -68,7 +68,7 @@ int mc_att_control_m_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("mc_att_control_m",
+		daemon_task = px4_task_spawn_cmd("mc_att_control_m",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1900,

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -1423,7 +1423,7 @@ MulticopterPositionControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("mc_pos_control",
+	_control_task = px4_task_spawn_cmd("mc_pos_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1500,

src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp

@@ -68,7 +68,7 @@ int mc_pos_control_m_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("mc_pos_control_m",
+		daemon_task = px4_task_spawn_cmd("mc_pos_control_m",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       2500,

src/modules/navigator/navigator_main.cpp

@@ -515,7 +515,7 @@ Navigator::start()
 	ASSERT(_navigator_task == -1);
 
 	/* start the task */
-	_navigator_task = task_spawn_cmd("navigator",
+	_navigator_task = px4_task_spawn_cmd("navigator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT + 20,
 					 1700,

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -153,7 +153,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 			}
 
 		thread_should_exit = false;
-		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
+		position_estimator_inav_task = px4_task_spawn_cmd("position_estimator_inav",
 					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000,
 					       position_estimator_inav_thread_main,
 					       (argv) ? (char * const *) &argv[2] : (char * const *) NULL);

src/modules/segway/segway_main.cpp

@@ -106,7 +106,7 @@ int segway_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 
-		deamon_task = task_spawn_cmd("segway",
+		deamon_task = px4_task_spawn_cmd("segway",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,

src/modules/sensors/sensors.cpp

@@ -2252,7 +2252,7 @@ Sensors::start()
 	ASSERT(_sensors_task == -1);
 
 	/* start the task */
-	_sensors_task = task_spawn_cmd("sensors_task",
+	_sensors_task = px4_task_spawn_cmd("sensors_task",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       2000,

src/modules/systemlib/module.mk

@@ -42,7 +42,6 @@ SRCS		 = err.c \
 		   cpuload.c \
 		   getopt_long.c \
 		   pid/pid.c \
-		   systemlib.c \
 		   airspeed.c \
 		   system_params.c \
 		   mavlink_log.c \

src/modules/systemlib/systemlib.h

@@ -42,31 +42,12 @@
 #include <float.h>
 #include <stdint.h>
 #include <sched.h>
+
+// OS specific settings defined in px4_tasks.h
 #include <px4_tasks.h>
 
 __BEGIN_DECLS
 
-/** Reboots the board */
-__EXPORT void systemreset(bool to_bootloader) noreturn_function;
-
-/** Sends SIGUSR1 to all processes */
-__EXPORT void killall(void);
-
-/** Default scheduler type */
-#if CONFIG_RR_INTERVAL > 0
-# define SCHED_DEFAULT	SCHED_RR
-#else
-# define SCHED_DEFAULT	SCHED_FIFO
-#endif
-
-/** Starts a task and performs any specific accounting, scheduler setup, etc. */
-__EXPORT int task_spawn_cmd(const char *name,
-			int priority,
-			int scheduler,
-			int stack_size,
-			px4_main_t entry,
-			char * const argv[]);
-
 enum MULT_PORTS {
 	MULT_0_US2_RXTX = 0,
 	MULT_1_US2_FLOW,

src/modules/uavcan/uavcan_main.cpp

@@ -194,7 +194,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
 	 * Start the task. Normally it should never exit.
 	 */
 	static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
-	_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
+	_instance->_task = px4_task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
 			      static_cast<main_t>(run_trampoline), nullptr);
 
 	if (_instance->_task < 0) {

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -861,7 +861,7 @@ VtolAttitudeControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("vtol_att_control",
+	_control_task = px4_task_spawn_cmd("vtol_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 10,
 				       2048,

src/platforms/px4_tasks.h

@@ -43,16 +43,26 @@
 #include <stdbool.h>
 
 #ifdef __PX4_ROS
+
 #error "PX4 tasks not supported in ROS"
+
 #elif defined(__PX4_NUTTX)
 typedef int px4_task_t;
 
+/** Default scheduler type */
+#if CONFIG_RR_INTERVAL > 0
+# define SCHED_DEFAULT  SCHED_RR
+#else
+# define SCHED_DEFAULT  SCHED_FIFO
+#endif
+
 #define px4_task_exit(x) _exit(x)
 
 #elif defined(__PX4_POSIX) || defined(__PX4_QURT)
 #include <pthread.h>
 #include <sched.h>
 
+/** Default scheduler type */
 #define SCHED_DEFAULT	SCHED_FIFO
 #ifdef __PX4_LINUX
 #define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)