From 1c091cbca54f5c94348a86f05ccb35187a31145c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 19 Oct 2013 16:47:35 +1100
Subject: [PATCH] HAL_PX4: fixed a scheduler bug that affects UART IO

we need to detect if we are in a timer task using a PID, not a
flag. This is the same type of bug I fixed last week, but now fixed
properly.

The bug could well be the "USB bug" that Craig has been chasing
---
 libraries/AP_HAL_PX4/HAL_PX4_Class.cpp |  9 ---------
 libraries/AP_HAL_PX4/Scheduler.cpp     | 11 ++++++-----
 libraries/AP_HAL_PX4/Scheduler.h       |  1 +
 3 files changed, 7 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
index 49ba991bbb..760a3ed071 100644
--- a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
+++ b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
@@ -160,15 +160,6 @@ static int main_loop(int argc, char **argv)
 
         perf_end(perf_loop);
 
-#if 0
-        if (hal.scheduler->in_timerprocess()) {
-            // we are running when a timer process is running! This is
-            // a scheduling error, and breaks the assumptions made in
-            // our locking system
-            ::printf("ERROR: timer processing running in loop()\n");
-        }
-#endif
-
         /*
           give up 500 microseconds of time, to ensure drivers get a
           chance to run. This relies on the accurate semaphore wait
diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index 82d56bd792..dc59de20b3 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -39,6 +39,8 @@ void PX4Scheduler::init(void *unused)
 {
     _sketch_start_time = hrt_absolute_time();
 
+    _main_task_pid = getpid();
+
     // setup the timer thread - this will call tasks at 1kHz
 	pthread_attr_t thread_attr;
 	struct sched_param param;
@@ -113,12 +115,10 @@ void PX4Scheduler::delay_microseconds(uint16_t usec)
 
 void PX4Scheduler::delay(uint16_t ms)
 {
-#if 0
-    if (_in_timer_proc) {
+    if (in_timerprocess()) {
         ::printf("ERROR: delay() from timer process\n");
         return;
     }
-#endif
     perf_begin(_perf_delay);
 	uint64_t start = hrt_absolute_time();
     
@@ -305,8 +305,9 @@ void PX4Scheduler::panic(const prog_char_t *errormsg)
     exit(1);
 }
 
-bool PX4Scheduler::in_timerprocess() {
-    return _in_timer_proc;
+bool PX4Scheduler::in_timerprocess() 
+{
+    return getpid() != _main_task_pid;
 }
 
 bool PX4Scheduler::system_initializing() {
diff --git a/libraries/AP_HAL_PX4/Scheduler.h b/libraries/AP_HAL_PX4/Scheduler.h
index a1346b0f5b..5ad27a0327 100644
--- a/libraries/AP_HAL_PX4/Scheduler.h
+++ b/libraries/AP_HAL_PX4/Scheduler.h
@@ -63,6 +63,7 @@ private:
 
     volatile bool _timer_event_missed;
 
+    pid_t _main_task_pid;
     pthread_t _timer_thread_ctx;
     pthread_t _io_thread_ctx;
     pthread_t _uart_thread_ctx;