From 342b1c5ded5480edad7a62cf6ec86642ecd3d109 Mon Sep 17 00:00:00 2001 From: TSC21 Date: Fri, 31 Jul 2020 13:35:01 +0100 Subject: [PATCH] microRTPS: client: properly set task/thread naming --- msg/templates/uorb_microcdr/microRTPS_client.cpp.em | 8 ++++++++ .../micrortps_client/microRTPS_client_main.cpp | 2 +- 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em index 3b18818334..fcd5c305db 100644 --- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em +++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em @@ -176,6 +176,10 @@ static int launch_send_thread(pthread_t &sender_thread) param.sched_priority = SCHED_PRIORITY_DEFAULT; (void)pthread_attr_setschedparam(&sender_thread_attr, ¶m); pthread_create(&sender_thread, &sender_thread_attr, send, nullptr); + if (pthread_setname_np(sender_thread, "micrortps_client_send")) + { + PX4_ERR("Could not set pthread name (%d)", errno); + } pthread_attr_destroy(&sender_thread_attr); return 0; @@ -190,6 +194,10 @@ void micrortps_start_topics(struct timespec &begin, uint64_t &total_read, uint64 uint8_t topic_ID = 255; RcvTopicsPubs *pubs = new RcvTopicsPubs(); + // Set the main task name to 'micrortps_client_rcv' in case there is + // data to receive + px4_prctl(PR_SET_NAME, "micrortps_client_rcv", px4_getpid()); + // ucdrBuffer to deserialize using the user defined buffer ucdrBuffer reader; ucdr_init_buffer(&reader, reinterpret_cast(data_buffer), BUFFER_SIZE); diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp index 28f1da8843..ce6617516a 100644 --- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp +++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp @@ -211,7 +211,7 @@ int micrortps_client_main(int argc, char *argv[]) return -1; } - _rtps_task = px4_task_spawn_cmd("rtps", + _rtps_task = px4_task_spawn_cmd("micrortps_client", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 2650,