px4_nuttx_tasks.c

/****************************************************************************
 *
 *   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 px4_nuttx_tasks.c
 * Implementation of existing task API for NuttX
 */

#include <nuttx/config.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>

#include <px4_config.h>
#include <px4_log.h>
#include <px4_tasks.h>

void
px4_systemreset(bool to_bootloader)
{
	board_set_bootload_mode(to_bootloader ? board_reset_enter_bootloader : board_reset_normal);
	board_system_reset(to_bootloader ? 1 : 0);
#if defined BOARD_HAS_NO_RESET
	/* In case there is no HW support Just exit*/
	PX4_WARN("System Reset Called");
	exit(1);
#endif
}

int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char *const argv[])
{
	int pid;

	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 */
	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 before the task starts */
	}

	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 = sched_self();

	return thisproc->name;
#else
	return "app";
#endif
}