From 4e6139d9fbe2dd86033017c90104268ee947bc12 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 31 Aug 2018 13:28:28 +0200
Subject: [PATCH] Posix: add '#pragma GCC poison exit'
Generally exit() should not be used on Posix, because it exits the whole
program instead of only the task.
---
platforms/posix/src/px4_daemon/client.cpp | 4 ++--
platforms/posix/src/px4_layer/px4_posix_tasks.cpp | 2 +-
src/include/visibility.h | 12 ++++++++++++
src/lib/DriverFramework | 2 +-
src/modules/events/temperature_calibration/task.cpp | 2 +-
src/modules/systemlib/uthash/utarray.h | 3 ++-
src/platforms/apps.cpp.in | 2 +-
7 files changed, 20 insertions(+), 7 deletions(-)
diff --git a/platforms/posix/src/px4_daemon/client.cpp b/platforms/posix/src/px4_daemon/client.cpp
index 587fada858..560475c8e3 100644
--- a/platforms/posix/src/px4_daemon/client.cpp
+++ b/platforms/posix/src/px4_daemon/client.cpp
@@ -330,7 +330,7 @@ Client::_sig_handler(int sig_num)
if (_client_send_pipe_fd < 0) {
PX4_ERR("pipe open fail");
- exit(-1);
+ system_exit(-1);
}
int bytes_to_send = get_client_send_packet_length(&packet);
@@ -338,7 +338,7 @@ Client::_sig_handler(int sig_num)
if (bytes_sent != bytes_to_send) {
PX4_ERR("write fail");
- exit(-1);
+ system_exit(-1);
}
}
diff --git a/platforms/posix/src/px4_layer/px4_posix_tasks.cpp b/platforms/posix/src/px4_layer/px4_posix_tasks.cpp
index e74c588419..607d5071b9 100644
--- a/platforms/posix/src/px4_layer/px4_posix_tasks.cpp
+++ b/platforms/posix/src/px4_layer/px4_posix_tasks.cpp
@@ -115,7 +115,7 @@ void
px4_systemreset(bool to_bootloader)
{
PX4_WARN("Called px4_system_reset");
- exit(0);
+ system_exit(0);
}
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
diff --git a/src/include/visibility.h b/src/include/visibility.h
index 00fa1a78e7..9f1cf06c6f 100644
--- a/src/include/visibility.h
+++ b/src/include/visibility.h
@@ -59,6 +59,18 @@
# define __END_DECLS
#endif
+/* exit() is used on NuttX to exit a task. However on Posix, it will exit the
+ * whole application, so we prevent its use there. There are cases where it
+ * still needs to be used, thus we remap system_exit to exit.
+ */
+#define system_exit exit
+#ifdef __PX4_POSIX
+#include <stdlib.h>
+#ifdef __cplusplus
+#include <cstdlib>
+#endif
+#pragma GCC poison exit
+#endif
#ifdef __PX4_NUTTX
/* On NuttX we call clearenv() so we cannot use getenv() and others (see px4_task_spawn_cmd() in px4_nuttx_tasks.c).
diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework
index 3bdfdf3db2..b439556d54 160000
--- a/src/lib/DriverFramework
+++ b/src/lib/DriverFramework
@@ -1 +1 @@
-Subproject commit 3bdfdf3db201d19dc243a1a1f1f3f85b55d08212
+Subproject commit b439556d54aa53532586e69de87cc720af4543c2
diff --git a/src/modules/events/temperature_calibration/task.cpp b/src/modules/events/temperature_calibration/task.cpp
index 4fc1a82ef5..3f2afeb7ce 100644
--- a/src/modules/events/temperature_calibration/task.cpp
+++ b/src/modules/events/temperature_calibration/task.cpp
@@ -87,7 +87,7 @@ public:
void task_main();
- void exit() { _force_task_exit = true; }
+ void exit_task() { _force_task_exit = true; }
private:
void publish_led_control(led_control_s &led_control);
diff --git a/src/modules/systemlib/uthash/utarray.h b/src/modules/systemlib/uthash/utarray.h
index 4ffb630bf3..b29e2d0268 100644
--- a/src/modules/systemlib/uthash/utarray.h
+++ b/src/modules/systemlib/uthash/utarray.h
@@ -39,7 +39,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <string.h> /* memset, etc */
#include <stdlib.h> /* exit */
-#define oom() exit(-1)
+// FIXME: this needs to be checked: we need to handle OOM properly instead of just exiting
+#define oom() system_exit(-1)
typedef void (ctor_f)(void *dst, const void *src);
typedef void (dtor_f)(void *elt);
diff --git a/src/platforms/apps.cpp.in b/src/platforms/apps.cpp.in
index de416a2589..bc417688f4 100644
--- a/src/platforms/apps.cpp.in
+++ b/src/platforms/apps.cpp.in
@@ -48,7 +48,7 @@ void list_builtins(apps_map_type &apps)
int shutdown_main(int argc, char *argv[])
{
printf("Shutting down\n");
- exit(0);
+ system_exit(0);
}
int list_tasks_main(int argc, char *argv[])
--
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