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POSIX: Fixed px4_getpid() calls from shell context 

When px4_getpid() was called from the shell, there was no opaque
thread ID to return. Added a special thread ID for the shell
context. This ID only works for px4_getpid() and cannot be used
for other px4_task_*() calls.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-06-11 11:36:58 -07:00
parent 30969eb10c
commit 18304a2a0d
2 changed files with 14 additions and 3 deletions
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4
src/platforms/posix/px4_layer/px4_posix_impl.cpp
View File

@ -48,6 +48,8 @@
#include "systemlib/param/param.h"
#include "hrt_work.h"
extern pthread_t _shell_task_id;
__BEGIN_DECLS
long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
@ -63,6 +65,8 @@ void init_once(void);
void init_once(void)
{
_shell_task_id = pthread_self();
PX4_INFO("Shell id is %lu", _shell_task_id);
work_queues_init();
hrt_work_queue_init();
hrt_init();

13
src/platforms/posix/px4_layer/px4_posix_tasks.cpp
View File

@ -58,6 +58,10 @@
#define MAX_CMD_LEN 100
#define PX4_MAX_TASKS 100
#define SHELL_TASK_ID (PX4_MAX_TASKS+1)
pthread_t _shell_task_id = 0;
struct task_entry
{
pthread_t pid;
@ -243,7 +247,7 @@ int px4_task_kill(px4_task_t id, int sig)
pthread_t pid;
PX4_DEBUG("Called px4_task_kill %d", sig);
if (id < PX4_MAX_TASKS && taskmap[id].pid != 0)
if (id < PX4_MAX_TASKS && taskmap[id].isused && taskmap[id].pid != 0)
pid = taskmap[id].pid;
else
return -EINVAL;
@ -278,13 +282,16 @@ int px4_getpid()
{
pthread_t pid = pthread_self();
if (pid == _shell_task_id)
return SHELL_TASK_ID;
// Get pthread ID from the opaque ID
for (int i=0; i<PX4_MAX_TASKS; ++i) {
if (taskmap[i].pid == pid) {
if (taskmap[i].isused && taskmap[i].pid == pid) {
return i;
}
}
PX4_ERR("px4_getpid() called from non-thread context!");
PX4_ERR("px4_getpid() called from unknown thread context!");
return -EINVAL;
}