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caa94d58a6
Signed-off-by: Jim Wilson <jywilson99@hotmail.com> Signed-off-by: Mark Charlebois <charlebm@gmail.com>
139 lines
4.3 KiB
C
139 lines
4.3 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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* Author: Mark Charlebois <charlebm@gmail.com> 2015
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4_tasks.h
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* Preserve existing task API call signature with OS abstraction
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*/
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#pragma once
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#include <stdbool.h>
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#ifdef __PX4_ROS
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#error "PX4 tasks not supported in ROS"
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#elif defined(__PX4_NUTTX)
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typedef int px4_task_t;
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#include <sys/prctl.h>
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#define px4_prctl prctl
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/** Default scheduler type */
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#if CONFIG_RR_INTERVAL > 0
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# define SCHED_DEFAULT SCHED_RR
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#else
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# define SCHED_DEFAULT SCHED_FIFO
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#endif
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#define px4_task_exit(x) _exit(x)
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#elif defined(__PX4_POSIX) || defined(__PX4_QURT)
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#include <pthread.h>
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#include <sched.h>
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/** Default scheduler type */
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#define SCHED_DEFAULT SCHED_FIFO
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#ifdef __PX4_LINUX
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#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
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#define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
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#define SCHED_PRIORITY_DEFAULT (((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2) + sched_get_priority_min(SCHED_FIFO))
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#elif defined(__PX4_DARWIN)
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#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
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#define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
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#define SCHED_PRIORITY_DEFAULT (((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2) + sched_get_priority_min(SCHED_FIFO))
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#elif defined(__PX4_QURT)
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#define SCHED_PRIORITY_MAX 255
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#define SCHED_PRIORITY_MIN 0
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#define SCHED_PRIORITY_DEFAULT 20
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#else
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#error "No target OS defined"
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#endif
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#if defined (__PX4_LINUX)
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#include <sys/prctl.h>
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#else
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#define PR_SET_NAME 1
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#endif
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typedef int px4_task_t;
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typedef struct {
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int argc;
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char **argv;
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} px4_task_args_t;
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#else
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#error "No target OS defined"
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#endif
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typedef int (*px4_main_t)(int argc, char *argv[]);
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__BEGIN_DECLS
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/** Reboots the board */
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__EXPORT void px4_systemreset(bool to_bootloader) noreturn_function;
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/** Starts a task and performs any specific accounting, scheduler setup, etc. */
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__EXPORT px4_task_t px4_task_spawn_cmd(const char *name,
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int priority,
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int scheduler,
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int stack_size,
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px4_main_t entry,
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char *const argv[]);
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/** Deletes a task - does not do resource cleanup **/
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__EXPORT int px4_task_delete(px4_task_t pid);
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/** Send a signal to a task **/
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__EXPORT int px4_task_kill(px4_task_t pid, int sig);
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/** Exit current task with return value **/
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__EXPORT void px4_task_exit(int ret);
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/** Show a list of running tasks **/
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__EXPORT void px4_show_tasks(void);
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/** See if a task is running **/
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__EXPORT bool px4_task_is_running(const char *taskname);
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#ifdef __PX4_POSIX
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/** set process (and thread) options */
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__EXPORT int px4_prctl(int option, const char *arg2, unsigned pid);
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#endif
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__END_DECLS
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