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POSIX: Fix formatting

This commit is contained in:
Lorenz Meier 2015-10-19 13:35:46 +02:00
parent 0b7f6902a9
commit d60f201dc8
8 changed files with 145 additions and 120 deletions
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2
src/platforms/posix/include/crc32.h
View File

@ -63,7 +63,7 @@ extern "C" {
****************************************************************************/
EXTERN uint32_t crc32part(const uint8_t *src, size_t len,
uint32_t crc32val);
uint32_t crc32val);
/****************************************************************************
* Name: crc32

32
src/platforms/posix/include/queue.h
View File

@ -69,30 +69,26 @@
* Global Type Declarations
************************************************************************/
struct sq_entry_s
{
FAR struct sq_entry_s *flink;
struct sq_entry_s {
FAR struct sq_entry_s *flink;
};
typedef struct sq_entry_s sq_entry_t;
struct dq_entry_s
{
FAR struct dq_entry_s *flink;
FAR struct dq_entry_s *blink;
struct dq_entry_s {
FAR struct dq_entry_s *flink;
FAR struct dq_entry_s *blink;
};
typedef struct dq_entry_s dq_entry_t;
struct sq_queue_s
{
FAR sq_entry_t *head;
FAR sq_entry_t *tail;
struct sq_queue_s {
FAR sq_entry_t *head;
FAR sq_entry_t *tail;
};
typedef struct sq_queue_s sq_queue_t;
struct dq_queue_s
{
FAR dq_entry_t *head;
FAR dq_entry_t *tail;
struct dq_queue_s {
FAR dq_entry_t *head;
FAR dq_entry_t *tail;
};
typedef struct dq_queue_s dq_queue_t;
@ -112,11 +108,11 @@ EXTERN void dq_addfirst(FAR dq_entry_t *node, dq_queue_t *queue);
EXTERN void sq_addlast(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void dq_addlast(FAR dq_entry_t *node, dq_queue_t *queue);
EXTERN void sq_addafter(FAR sq_entry_t *prev, FAR sq_entry_t *node,
sq_queue_t *queue);
sq_queue_t *queue);
EXTERN void dq_addafter(FAR dq_entry_t *prev, FAR dq_entry_t *node,
dq_queue_t *queue);
dq_queue_t *queue);
EXTERN void dq_addbefore(FAR dq_entry_t *next, FAR dq_entry_t *node,
dq_queue_t *queue);
dq_queue_t *queue);
EXTERN FAR sq_entry_t *sq_remafter(FAR sq_entry_t *node, sq_queue_t *queue);
EXTERN void sq_rem(FAR sq_entry_t *node, sq_queue_t *queue);

2
src/platforms/posix/main.cpp
View File

@ -96,6 +96,7 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail)
if (exit_on_fail && retval) {
exit(retval);
}
usleep(65000);
} else if (command.compare("help") == 0) {
@ -108,6 +109,7 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail)
cout << "Invalid command: " << command << "\ntype 'help' for a list of commands" << endl;
}
print_prompt();
}

1
src/platforms/posix/px4_layer/drv_hrt.c
View File

@ -237,6 +237,7 @@ void hrt_init(void)
sq_init(&callout_queue);
int sem_ret = px4_sem_init(&_hrt_lock, 0, 1);
if (sem_ret) {
PX4_ERR("SEM INIT FAIL: %s", strerror(errno));
}

85
src/platforms/posix/px4_layer/lib_crc32.c
View File

@ -48,46 +48,45 @@
#include <crc32.h>
// Needed for Linux
#define FAR
#define FAR
/************************************************************************************************
* Private Data
************************************************************************************************/
static const uint32_t crc32_tab[] =
{
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
static const uint32_t crc32_tab[] = {
0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
};
/************************************************************************************************
@ -103,13 +102,13 @@ static const uint32_t crc32_tab[] =
uint32_t crc32part(FAR const uint8_t *src, size_t len, uint32_t crc32val)
{
size_t i;
size_t i;
for (i = 0; i < len; i++)
{
crc32val = crc32_tab[(crc32val ^ src[i]) & 0xff] ^ (crc32val >> 8);
}
return crc32val;
for (i = 0; i < len; i++) {
crc32val = crc32_tab[(crc32val ^ src[i]) & 0xff] ^ (crc32val >> 8);
}
return crc32val;
}
/************************************************************************************************
@ -122,5 +121,5 @@ uint32_t crc32part(FAR const uint8_t *src, size_t len, uint32_t crc32val)
uint32_t crc32(FAR const uint8_t *src, size_t len)
{
return crc32part(src, len, 0);
return crc32part(src, len, 0);
}

131
src/platforms/posix/px4_layer/px4_posix_tasks.cpp
View File

@ -63,8 +63,7 @@
pthread_t _shell_task_id = 0;
struct task_entry
{
struct task_entry {
pthread_t pid;
std::string name;
bool isused;
@ -73,27 +72,26 @@ struct task_entry
static task_entry taskmap[PX4_MAX_TASKS];
typedef struct
{
typedef struct {
px4_main_t entry;
int argc;
char *argv[];
// strings are allocated after the
// strings are allocated after the
} pthdata_t;
static void *entry_adapter ( void *ptr )
static void *entry_adapter(void *ptr)
{
pthdata_t *data;
data = (pthdata_t *) ptr;
pthdata_t *data;
data = (pthdata_t *) ptr;
data->entry(data->argc, data->argv);
free(ptr);
PX4_DEBUG("Before px4_task_exit");
px4_task_exit(0);
px4_task_exit(0);
PX4_DEBUG("After px4_task_exit");
return NULL;
}
}
void
px4_systemreset(bool to_bootloader)
@ -102,7 +100,8 @@ px4_systemreset(bool to_bootloader)
exit(0);
}
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry,
char *const argv[])
{
int rv;
int argc = 0;
@ -110,52 +109,62 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
unsigned int len = 0;
unsigned long offset;
unsigned long structsize;
char * p = (char *)argv;
char *p = (char *)argv;
pthread_t task;
pthread_t task;
pthread_attr_t attr;
struct sched_param param;
// Calculate argc
while (p != (char *)0) {
p = argv[argc];
if (p == (char *)0)
break;
++argc;
len += strlen(p)+1;
}
structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
pthdata_t *taskdata;
// not safe to pass stack data to the thread creation
taskdata = (pthdata_t *)malloc(structsize+len);
offset = ((unsigned long)taskdata)+structsize;
taskdata->entry = entry;
if (p == (char *)0) {
break;
}
++argc;
len += strlen(p) + 1;
}
structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
pthdata_t *taskdata;
// not safe to pass stack data to the thread creation
taskdata = (pthdata_t *)malloc(structsize + len);
offset = ((unsigned long)taskdata) + structsize;
taskdata->entry = entry;
taskdata->argc = argc;
for (i=0; i<argc; i++) {
for (i = 0; i < argc; i++) {
PX4_DEBUG("arg %d %s\n", i, argv[i]);
taskdata->argv[i] = (char *)offset;
strcpy((char *)offset, argv[i]);
offset+=strlen(argv[i])+1;
offset += strlen(argv[i]) + 1;
}
// Must add NULL at end of argv
taskdata->argv[argc] = (char *)0;
PX4_DEBUG("starting task %s", name);
rv = pthread_attr_init(&attr);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to init thread attrs");
return (rv < 0) ? rv : -rv;
}
rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set inherit sched");
return (rv < 0) ? rv : -rv;
}
rv = pthread_attr_setschedpolicy(&attr, scheduler);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set sched policy");
return (rv < 0) ? rv : -rv;
@ -164,28 +173,31 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
param.sched_priority = priority;
rv = pthread_attr_setschedparam(&attr, &param);
if (rv != 0) {
PX4_WARN("px4_task_spawn_cmd: failed to set sched param");
return (rv < 0) ? rv : -rv;
}
rv = pthread_create (&task, &attr, &entry_adapter, (void *) taskdata);
rv = pthread_create(&task, &attr, &entry_adapter, (void *) taskdata);
if (rv != 0) {
if (rv == EPERM) {
//printf("WARNING: NOT RUNING AS ROOT, UNABLE TO RUN REALTIME THREADS\n");
rv = pthread_create (&task, NULL, &entry_adapter, (void *) taskdata);
rv = pthread_create(&task, NULL, &entry_adapter, (void *) taskdata);
if (rv != 0) {
PX4_ERR("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
return (rv < 0) ? rv : -rv;
}
}
else {
} else {
return (rv < 0) ? rv : -rv;
}
}
for (i=0; i<PX4_MAX_TASKS; ++i) {
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].isused == false) {
taskmap[i].pid = task;
taskmap[i].name = name;
@ -193,10 +205,12 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
break;
}
}
if (i>=PX4_MAX_TASKS) {
if (i >= PX4_MAX_TASKS) {
return -ENOSPC;
}
return i;
return i;
}
int px4_task_delete(px4_task_t id)
@ -205,15 +219,18 @@ int px4_task_delete(px4_task_t id)
pthread_t pid;
PX4_DEBUG("Called px4_task_delete");
if (id < PX4_MAX_TASKS && taskmap[id].isused)
if (id < PX4_MAX_TASKS && taskmap[id].isused) {
pid = taskmap[id].pid;
else
} else {
return -EINVAL;
}
// If current thread then exit, otherwise cancel
if (pthread_self() == pid) {
if (pthread_self() == pid) {
taskmap[id].isused = false;
pthread_exit(0);
} else {
rv = pthread_cancel(pid);
}
@ -225,20 +242,21 @@ int px4_task_delete(px4_task_t id)
void px4_task_exit(int ret)
{
int i;
int i;
pthread_t pid = pthread_self();
// Get pthread ID from the opaque ID
for (i=0; i<PX4_MAX_TASKS; ++i) {
for (i = 0; i < PX4_MAX_TASKS; ++i) {
if (taskmap[i].pid == pid) {
taskmap[i].isused = false;
break;
}
}
if (i>=PX4_MAX_TASKS) {
if (i >= PX4_MAX_TASKS) {
PX4_ERR("px4_task_exit: self task not found!");
}
else {
} else {
PX4_DEBUG("px4_task_exit: %s", taskmap[i].name.c_str());
}
@ -251,10 +269,12 @@ 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].isused && taskmap[id].pid != 0)
if (id < PX4_MAX_TASKS && taskmap[id].isused && taskmap[id].pid != 0) {
pid = taskmap[id].pid;
else
} else {
return -EINVAL;
}
// If current thread then exit, otherwise cancel
rv = pthread_kill(pid, sig);
@ -268,27 +288,30 @@ void px4_show_tasks()
int count = 0;
PX4_INFO("Active Tasks:");
for (idx=0; idx < PX4_MAX_TASKS; idx++)
{
for (idx = 0; idx < PX4_MAX_TASKS; idx++) {
if (taskmap[idx].isused) {
PX4_INFO(" %-10s %lu", taskmap[idx].name.c_str(), (unsigned long)taskmap[idx].pid);
count++;
}
}
if (count == 0)
if (count == 0) {
PX4_INFO(" No running tasks");
}
}
bool px4_task_is_running(const char *taskname)
{
int idx;
for (idx=0; idx < PX4_MAX_TASKS; idx++)
{
for (idx = 0; idx < PX4_MAX_TASKS; idx++) {
if (taskmap[idx].isused && (strcmp(taskmap[idx].name.c_str(), taskname) == 0)) {
return true;
}
}
return false;
}
__BEGIN_DECLS
@ -301,14 +324,14 @@ unsigned long px4_getpid()
const char *getprogname();
const char *getprogname()
{
pthread_t pid = pthread_self();
for (int i=0; i<PX4_MAX_TASKS; i++)
{
if (taskmap[i].isused && taskmap[i].pid == pid)
{
pthread_t pid = pthread_self();
for (int i = 0; i < PX4_MAX_TASKS; i++) {
if (taskmap[i].isused && taskmap[i].pid == pid) {
return taskmap[i].name.c_str();
}
}
return "Unknown App";
}
__END_DECLS

10
src/platforms/posix/px4_layer/px4_sem.cpp
View File

@ -65,9 +65,11 @@ int px4_sem_wait(px4_sem_t *s)
{
pthread_mutex_lock(&(s->lock));
s->value--;
if(s->value < 0) {
pthread_cond_wait(&(s->wait), &(s->lock));
if (s->value < 0) {
pthread_cond_wait(&(s->wait), &(s->lock));
}
pthread_mutex_unlock(&(s->lock));
return 0;
@ -77,9 +79,11 @@ int px4_sem_post(px4_sem_t *s)
{
pthread_mutex_lock(&(s->lock));
s->value++;
if(s->value <= 0) {
if (s->value <= 0) {
pthread_cond_signal(&(s->wait));
}
pthread_mutex_unlock(&(s->lock));
return 0;

2
src/platforms/posix/work_queue/hrt_thread.c
View File

@ -274,7 +274,7 @@ void hrt_work_queue_init(void)
work_hrtthread,
(char *const *)NULL);
#ifdef __PX4_QURT
signal(SIGALRM, _sighandler);
#else