- added gazebo VTOL tailsitter debug target
- improved jmavsim debug target and helper tasks to work properly (build and launch directly instead of through the jmavsim_run.sh script)
- improved output console handling for helper tasks (eg gazebo and jmavsim build and run, followed by cleanup after debug)
- added miniterm.py as a task
- nuttx in PX4/Firmware (22a005c9f4): 2d7920055f
- nuttx current upstream: 398a59aaa4
- Changes: 2d7920055f...398a59aaa4
398a59aaa4 2019-11-29 David Sidrane - [BACKPORT] stm32f7:ethernet: Add some delays so that ifup() does not hog the CPU.
Change PID to 0x4b:
Holybro obtained their own PID and VID but APM did not follow
the PX4 convention of makeing the board_id (0x8b) match the PID)
Incorporated the Upstream Bootloader state sequencing checking change.
Change the usb cout to send all chars in 1 write.
The Addition of PX4_ARCH_DCACHE_LINESIZE is fundamentally wrong.
It asserst that an STM32F4 has a cache and it does not.
This should be #if defined() on CONFIG_ARMV7M_DCACHE
Main UAVCAN protocol handling and ESC updates run on the same thread/wq as
before. There are 2 WorkItems for separate scheduling of the 2, so that
ESC updates run in sync with actuator_control updates. UAVCAN is scheduled
at a fixed rate of 3ms (previously the poll timeout) and on each UAVCAN
bus event.
This leads to roughly the same behavior as before. CPU & RAM usage are
pretty much the same (tested on Pixhawk 4).
Testing done: Motors still work (with feedback), param changes and a
UAVCAN optical flow sensor.
getLockGuard relies on copy elision to work correctly, which the compiler
is not required to do (only with C++17).
If no copy elision happens, the mutex ends up being unlocked twice, and the
CS is executed with the mutex unlocked.
The patch also ensures that the same pattern cannot be used again.
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
This could happen in the following cases:
- IRQ/publisher rate is faster than the processing rate, and therefore
WorkQueue::Add is called at a higher rate
- a long-running or stuck task that blocks the work queue a long time
Both cases are not expected to happen under 'normal' circumstances (if the
system runs as expected).
This reloads the timer configuration before triggering DMA. Without that,
in rare cases, there were 17 bits sent instead of 16.
The 1. bit (1. pulse) was always wrong (too much), the rest of the bits
were the correct DShot packet that was meant to be sent.
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
* Add kdevelop to gitignore
* Add test stubs
* Rename px4_add_gtest to px4_add_unit_gtest
* Add infrastructure to run functional tests
* Add example tests with parameters and uorb messages
* Fix memory issues in destructors in uORB manager and CDev
* Add a more real-world test of the collision prevention
- nuttx in PX4/Firmware (be76f909beadfe80415b733c020695efb042adef): b4013dcd4a
- nuttx current upstream: 14f4dc735a
- Changes: b4013dcd4a...14f4dc735a
14f4dc7 2019-08-05 David Sidrane - [BACKPORT] kinetis:i2c transfer ensure correct result returned
- nuttx in PX4/Firmware (0654fdcf0ec7e45cc1e1ca5cc38de6c5e36417bc): feb5b6f174
- nuttx current upstream: 257e1730dc
- Changes: feb5b6f174...257e1730dc
257e173 2019-07-26 David Sidrane - [BACKPORT] stm32f7:If only one SDMMC it is slot 0
The current SEGV handling on posix is not useful: as soon as our handler
is left, it's triggered again, infinitely.
This patch changes to restore the original handler, so the OS can create
a core dump, etc.
This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
This makes sure we add the lockstep_scheduler_test even if the
ENABLE_LOCKSTEP_SCHEDULER is not set to yes. This means the
lockstep_scheduler is not used for SITL but the CMakeLists.txt file
still used and the test added.
This fixes build races which happened if "Unix Makefiles" instead of
ninja-build was used as the cmake backend.
For any dependencies of commands on files we need to create a target.
Otherwise, if "Unix Makefiles" are used as the generator the commands
are run in parallel on the different files which often can lead to
races or redundancies in our build.
A nice write-up can be found here:
https://samthursfield.wordpress.com/2015/11/21/
cmake-dependencies-between-targets-and-files-and-custom-commands/#
custom-commands-and-parallel-make
It turns out that we can fix the unit tests of the lockstep_scheduler
just by checking if `passed_lock` is not `nullptr`.
Without this check, the unit tests segfaulted.
This solves a potential dead-lock when trying to shutdown: a call to exit()
stops all threads and calls all destructors for static objects.
The destructor of LockstepScheduler takes a lock. However this is not
safe, as the lock could already be taken (by any thread).
Some threads do not exit and are still running when
trying to exit SITL running under Windows in Cygwin.
This problem was introduced with:
- posix shell #10173 because of strating a child process
for the startup script and mixing up the signal handling
(only Ctrl+C broken)
- lockstep #10648 because of simulator threads not
stopping gracefully anymore with timing race conditions
(no graceful exit possible anymore)
I leave the SIGINT handler on its default implementation for
Cygwin which kills the process and all its threads when pressing
Ctrl+C.
This hotfix at least allows the usage of Ctrl+C again instead
of forcing the user to use the task manager to shut down
px4.exe going crazy on CPU load instead of exiting
everytime.
- use a linked-list instead of std::vector. Insertion and removal are now
O(1)
- avoid malloc and use a thread_local instance of TimedWait.
It gets destroyed when the thread exits, so we have to add protection
in case a thread exits too quickly. This in turn requires a fix to the
unit-tests.
The API of cond_timedwait was wrong. It used return -1 and set errno
instead of returning the error as specified for pthread_cond_timedwait
which it tries to mock.
It seems that the hysteresis test fails every now and then, presumably
due to timing issues. The tests needs some improvements, e.g. isolating
it from the system time.
@bkueng found that the old implementation was likely to wrap-around
given seconds is only a uint32_t. We now cast it directly to uint64_t
and therefore should fix this problem.
This uses the "fake" px4_sem based on mutex and condition_variable on
all POSIX system, not just macOS and Cygwin. This means that we can
change px4_sem_timedwait under the hood and inject the simulated time.
This integrates the lockstep_scheduler, so that the system time is set
by the mavlink HIL_SENSOR message.
This means that the speed factor is removed and the speed is entirely
given by the simulator.
These contains some rough changes trying to get SITL to speed up by a
SPEED_FACTOR.
This platform time code probably requires some more thought and refactor
but this gets a demo at 4x working.
You can now add `DYNAMIC` as an option to `px4_add_module`, which will
cause that module to no longer be compiled into the px4 executable, but
instead produce a separate shared library file, which can be loaded and
executed with the new `dyn` command:
pxh> dyn ./hello.px4mod start
This will load the shared object file `hello.px4mod` if it wasn't
already loaded, and execute its main function with the given arguments.
The threads running commands for clients through the Posix daemon used
to write to a char buffer through snprintf (etc.) which was then written
directly to the file descriptor, whereas in the other case printf
(etc.) was used to write to stdout (FILE*). Both versions used some
macro's and repeated code to have the same output.
This change unifies these two cases by using a FILE* in both cases. The
(line) buffering is done by the standard C library's implementation
(just like with stdout), and px4_log.c now uses the same code in all
cases (using fprintf, etc.) for printing (colored) output.
Because it was always failing from the beginning on and
we want to make sure no other tests break in the meantime
by running the currently passing tests also on Windows CI.
Unlike pipes, unix sockets provide bi-directional
communication with each connected client.
- No need to generate a unique uuid per client anymore.
- The client doesn't have to create its own pipe anymore.
- Since there is no risk of multiple client's writes getting mixed up,
messages don't need to fit in a single write anymore, removing the
limit on command length.
- Since the server can detect a connection closing, the client no longer
needs to handle signals. When the client is killed, the connection is
automatically closed, which will cause the server to kill the related
px4 thread.
Since this does not rely on handling signals and the client sending an
additional message, this is much more reliable.
- Client is no longer a singleton.
- The protocol is simplified. Standard output is directly written to the
socket back to the client, without wrapping it in any protocol
message.
- Because of the simple protocol, one could now even use netcat to run a
px4 command:
$ echo hello | netcat -UN /tmp/px4-sock-0
Also removes a few race conditions.
Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
(Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
David Sidrane
Daniel Agar
Matthias Grob
PX4 BuildBot
Beat Küng
TSC21
FlavioTonelli
Igor Mišić
Julian Oes
Kjkinney
roangel
Hyon Lim
Julian Kent
Anthony Lamping
David Sidrane
mcsauder
Nico van Duijn
Lorenz Meier
karliss
James Goppert
Kārlis Seņko
Mara Bos
dkang