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