forked from Archive/PX4-Autopilot
92 lines
2.8 KiB
C
92 lines
2.8 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file systemlib.c
|
|
* Implementation of commonly used low-level system-call like functions.
|
|
*/
|
|
|
|
#include <nuttx/config.h>
|
|
#include <unistd.h>
|
|
#include <stdio.h>
|
|
#include <fcntl.h>
|
|
#include <sched.h>
|
|
#include <signal.h>
|
|
#include <sys/stat.h>
|
|
#include <unistd.h>
|
|
#include <float.h>
|
|
#include <string.h>
|
|
|
|
#include "systemlib.h"
|
|
|
|
static void kill_task(FAR _TCB *tcb, FAR void *arg);
|
|
|
|
void killall()
|
|
{
|
|
// printf("Sending SIGUSR1 to all processes now\n");
|
|
|
|
/* iterate through all tasks and send kill signal */
|
|
sched_foreach(kill_task, NULL);
|
|
}
|
|
|
|
static void kill_task(FAR _TCB *tcb, FAR void *arg)
|
|
{
|
|
kill(tcb->pid, SIGUSR1);
|
|
}
|
|
|
|
int task_spawn(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
|
|
{
|
|
int pid;
|
|
|
|
sched_lock();
|
|
|
|
/* create the task */
|
|
pid = task_create(name, priority, stack_size, entry, argv);
|
|
|
|
if (pid > 0) {
|
|
|
|
/* configure the scheduler */
|
|
struct sched_param param;
|
|
|
|
param.sched_priority = priority;
|
|
sched_setscheduler(pid, scheduler, ¶m);
|
|
|
|
/* XXX do any other private task accounting here before the task starts */
|
|
}
|
|
|
|
sched_unlock();
|
|
|
|
return pid;
|
|
}
|