From 7bb70313da63e601c8622687839ea4d3a9f22998 Mon Sep 17 00:00:00 2001
From: Mark Charlebois <charlebm@gmail.com>
Date: Mon, 8 Jun 2015 21:36:01 -0700
Subject: [PATCH] POSIX: use px4_getpid()

The posix build only has one process so calling getpid() will not
provide the expected result.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
---
 .../posix/px4_layer/px4_posix_tasks.cpp       | 15 +++++++++
 src/platforms/px4_posix.h                     |  5 ---
 .../qurt/px4_layer/px4_qurt_tasks.cpp         | 33 +++++++++++--------
 3 files changed, 34 insertions(+), 19 deletions(-)

diff --git a/src/platforms/posix/px4_layer/px4_posix_tasks.cpp b/src/platforms/posix/px4_layer/px4_posix_tasks.cpp
index c539fa7266..eb442e708b 100644
--- a/src/platforms/posix/px4_layer/px4_posix_tasks.cpp
+++ b/src/platforms/posix/px4_layer/px4_posix_tasks.cpp
@@ -273,6 +273,21 @@ void px4_show_tasks()
 }
 
 __BEGIN_DECLS
+
+int px4_getpid()
+{
+	pthread_t pid = pthread_self();
+
+	// Get pthread ID from the opaque ID
+	for (int i=0; i<PX4_MAX_TASKS; ++i) {
+		if (taskmap[i].pid == pid) {
+			return i;
+		}
+	}
+	PX4_ERR("px4_getpid() called from non-thread context!");
+	return -EINVAL;
+}
+
 const char *getprogname();
 const char *getprogname()
 {
diff --git a/src/platforms/px4_posix.h b/src/platforms/px4_posix.h
index da3e584b80..4e0fc8370d 100644
--- a/src/platforms/px4_posix.h
+++ b/src/platforms/px4_posix.h
@@ -99,12 +99,7 @@ __EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
 __EXPORT int		px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
 __EXPORT int		px4_fsync(int fd);
 __EXPORT int		px4_access(const char *pathname, int mode);
-#ifdef __PX4_QURT
-typedef int 		pid_t;
 __EXPORT int		px4_getpid(void);
-#else
-#define  px4_getpid	getpid
-#endif
 
 __END_DECLS
 #else
diff --git a/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp b/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
index 75239b91d6..bea12adfbc 100644
--- a/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+++ b/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
@@ -245,20 +245,6 @@ int px4_task_kill(px4_task_t id, int sig)
 	return rv;
 }
 
-pid_t px4_getpid()
-{
-	pthread_t pid = pthread_self();
-
-	// Get pthread ID from the opaque ID
-	for (int i=0; i<PX4_MAX_TASKS; ++i) {
-		if (taskmap[i].pid == pid) {
-			return i;
-		}
-	}
-	PX4_ERR("px4_getpid() called from non-thread context!");
-	return -EINVAL;
-}
-
 void px4_show_tasks()
 {
 	int idx;
@@ -276,3 +262,22 @@ void px4_show_tasks()
 		PX4_INFO("   No running tasks");
 
 }
+
+__BEGIN_DECLS
+
+int px4_getpid()
+{
+	pthread_t pid = pthread_self();
+
+	// Get pthread ID from the opaque ID
+	for (int i=0; i<PX4_MAX_TASKS; ++i) {
+		if (taskmap[i].pid == pid) {
+			return i;
+		}
+	}
+	PX4_ERR("px4_getpid() called from non-thread context!");
+	return -EINVAL;
+}
+
+__END_DECLS
+