From f039a37971647ff786c546c38cafd412820e5ab3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 28 Nov 2016 10:18:52 +1100
Subject: [PATCH] HAL_PX4: set names on all bus threads

---
 libraries/AP_HAL_PX4/Device.cpp    | 24 ++++++++++++++++++++++--
 libraries/AP_HAL_PX4/Device.h      |  5 +++--
 libraries/AP_HAL_PX4/I2CDevice.cpp |  2 +-
 libraries/AP_HAL_PX4/SPIDevice.cpp |  2 +-
 4 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_PX4/Device.cpp b/libraries/AP_HAL_PX4/Device.cpp
index ec527452f1..e15fef037a 100644
--- a/libraries/AP_HAL_PX4/Device.cpp
+++ b/libraries/AP_HAL_PX4/Device.cpp
@@ -34,6 +34,24 @@ static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
 void *DeviceBus::bus_thread(void *arg)
 {
     struct DeviceBus *binfo = (struct DeviceBus *)arg;
+
+    // setup a name for the thread
+    char name[] = "XXX:X";
+    switch (binfo->hal_device->bus_type()) {
+    case AP_HAL::Device::BUS_TYPE_I2C:
+        snprintf(name, sizeof(name), "I2C:%u",
+                 binfo->hal_device->bus_num());
+        break;
+
+    case AP_HAL::Device::BUS_TYPE_SPI:
+        snprintf(name, sizeof(name), "SPI:%u",
+                 binfo->hal_device->bus_num());
+        break;
+    default:
+        break;
+    }
+    pthread_setname_np(pthread_self(), name);
+    
     while (!_px4_thread_should_exit) {
         uint64_t now = AP_HAL::micros64();
         DeviceBus::callback_info *callback;
@@ -81,7 +99,7 @@ void *DeviceBus::bus_thread(void *arg)
     return nullptr;
 }
     
-AP_HAL::Device::PeriodicHandle DeviceBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
+AP_HAL::Device::PeriodicHandle DeviceBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb, AP_HAL::Device *_hal_device)
 {
     if (!thread_started) {
         thread_started = true;
@@ -95,7 +113,9 @@ AP_HAL::Device::PeriodicHandle DeviceBus::register_periodic_callback(uint32_t pe
         param.sched_priority = thread_priority;
         (void)pthread_attr_setschedparam(&thread_attr, &param);
         pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
-    
+
+        hal_device = _hal_device;
+        
         pthread_create(&thread_ctx, &thread_attr, &DeviceBus::bus_thread, this);
     }
     DeviceBus::callback_info *callback = new DeviceBus::callback_info;
diff --git a/libraries/AP_HAL_PX4/Device.h b/libraries/AP_HAL_PX4/Device.h
index 667a778640..8eeda33462 100644
--- a/libraries/AP_HAL_PX4/Device.h
+++ b/libraries/AP_HAL_PX4/Device.h
@@ -29,9 +29,9 @@ public:
     struct DeviceBus *next;
     Semaphore semaphore;
 
-    AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb);
+    AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb, AP_HAL::Device *hal_device);
     static void *bus_thread(void *arg);
-
+    
 private:
     struct callback_info {
         struct callback_info *next;
@@ -42,6 +42,7 @@ private:
     uint8_t thread_priority;
     pthread_t thread_ctx;
     bool thread_started;
+    AP_HAL::Device *hal_device;
 };
 
 }
diff --git a/libraries/AP_HAL_PX4/I2CDevice.cpp b/libraries/AP_HAL_PX4/I2CDevice.cpp
index 07487ea2f4..1c24eecd21 100644
--- a/libraries/AP_HAL_PX4/I2CDevice.cpp
+++ b/libraries/AP_HAL_PX4/I2CDevice.cpp
@@ -141,7 +141,7 @@ AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t pe
         return nullptr;
     }
     struct DeviceBus &binfo = businfo[_busnum];
-    return binfo.register_periodic_callback(period_usec, cb);
+    return binfo.register_periodic_callback(period_usec, cb, this);
 }
     
 
diff --git a/libraries/AP_HAL_PX4/SPIDevice.cpp b/libraries/AP_HAL_PX4/SPIDevice.cpp
index 5b0ba6f1ca..889037c9c0 100644
--- a/libraries/AP_HAL_PX4/SPIDevice.cpp
+++ b/libraries/AP_HAL_PX4/SPIDevice.cpp
@@ -223,7 +223,7 @@ AP_HAL::Semaphore *SPIDevice::get_semaphore()
 
 AP_HAL::Device::PeriodicHandle SPIDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
 {
-    return bus.register_periodic_callback(period_usec, cb);
+    return bus.register_periodic_callback(period_usec, cb, this);
 }
 
 bool SPIDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)