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[DO NOT MERGE]: posix shutdown investigation/hacks #11525

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[DO NOT MERGE]: posix shutdown investigation/hacks #11525

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80 changes: 38 additions & 42 deletions platforms/posix/cmake/sitl_tests.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -50,17 +50,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
endif()

foreach(test_name ${tests})
configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated)
configure_file(
${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_template.in
${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
)

add_test(NAME ${test_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
none
none
test_${test_name}_generated
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
COMMAND $<TARGET_FILE:px4> -d
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_${test_name}_generated
-t ${PX4_SOURCE_DIR}/test_data/
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)

set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
set_tests_properties(${test_name} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
Expand All @@ -71,14 +72,12 @@ endforeach()

# Mavlink test requires mavlink running
add_test(NAME mavlink
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
none
none
test_mavlink
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
COMMAND $<TARGET_FILE:px4> -d
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_mavlink
-t ${PX4_SOURCE_DIR}/test_data/
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)

set_tests_properties(mavlink PROPERTIES FAIL_REGULAR_EXPRESSION "mavlink FAILED")
set_tests_properties(mavlink PROPERTIES PASS_REGULAR_EXPRESSION "mavlink PASSED")
Expand All @@ -88,14 +87,12 @@ sanitizer_fail_test_on_error(mavlink)
if(NOT CMAKE_SYSTEM_NAME STREQUAL "CYGWIN")
# Shutdown test
add_test(NAME shutdown
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
none
none
test_shutdown
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
COMMAND $<TARGET_FILE:px4> -d
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_shutdown
-t ${PX4_SOURCE_DIR}/test_data/
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)

#set_tests_properties(shutdown PROPERTIES FAIL_REGULAR_EXPRESSION "shutdown FAILED")
set_tests_properties(shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
Expand All @@ -104,15 +101,13 @@ endif()

# Dynamic module loading test
add_test(NAME dyn
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
none
none
test_dyn_hello
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
COMMAND $<TARGET_FILE:px4> -d
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_dyn_hello
-t ${PX4_SOURCE_DIR}/test_data/
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
$<TARGET_FILE:examples__dyn_hello>
WORKING_DIRECTORY ${SITL_WORKING_DIR})
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
sanitizer_fail_test_on_error(dyn)

Expand All @@ -124,17 +119,18 @@ set(test_cmds
)

foreach(cmd_name ${test_cmds})
configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated)
configure_file(
${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in
${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated
)

add_test(NAME posix_${cmd_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
none
none
cmd_${cmd_name}_generated
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
COMMAND $<TARGET_FILE:px4> -d
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated
-t ${PX4_SOURCE_DIR}/test_data/
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)

sanitizer_fail_test_on_error(posix_${cmd_name})
set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
Expand Down
31 changes: 19 additions & 12 deletions platforms/posix/src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,15 +84,8 @@ static const char *LOCK_FILE_PATH = "/tmp/px4_lock";
#define PATH_MAX 1024
#endif


static volatile bool _exit_requested = false;


namespace px4
{
void init_once();
}

static void sig_int_handler(int sig_num);
static void sig_fpe_handler(int sig_num);
static void sig_segv_handler(int sig_num);
Expand Down Expand Up @@ -271,7 +264,6 @@ int main(int argc, char **argv)

DriverFramework::Framework::initialize();

px4::init_once();
px4::init(argc, argv, "px4");

ret = run_startup_script(commands_file, absolute_binary_path, instance);
Expand All @@ -297,6 +289,9 @@ int main(int argc, char **argv)
std::string cmd("shutdown");
px4_daemon::Pxh::process_line(cmd, true);

// remove any file lock
const std::string file_lock_path = std::string(LOCK_FILE_PATH) + '-' + std::to_string(instance);
remove(file_lock_path.c_str());
}

return PX4_OK;
Expand Down Expand Up @@ -426,8 +421,8 @@ void sig_int_handler(int sig_num)
fflush(stdout);
printf("\nExiting...\n");
fflush(stdout);
px4_daemon::Pxh::stop();
_exit_requested = true;

px4_systemreset(false);
}

void sig_fpe_handler(int sig_num)
Expand All @@ -436,8 +431,8 @@ void sig_fpe_handler(int sig_num)
printf("\nfloating point exception\n");
PX4_BACKTRACE();
fflush(stdout);
px4_daemon::Pxh::stop();
_exit_requested = true;

px4_systemreset(false);
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@dagar , did you want this to be px4_system_reset?

}

void sig_segv_handler(int sig_num)
Expand Down Expand Up @@ -642,3 +637,15 @@ std::string pwd()
char temp[PATH_MAX];
return (getcwd(temp, PATH_MAX) ? std::string(temp) : std::string(""));
}

void
px4_systemreset(bool to_bootloader)
{
printf("Shutting down\n");

px4_daemon::Pxh::stop();

_exit_requested = true;

system_exit(0);
}
20 changes: 5 additions & 15 deletions platforms/posix/src/px4_layer/px4_posix_impl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,8 +53,6 @@
#include <pthread.h>
#include <px4_init.h>

extern pthread_t _shell_task_id;

__BEGIN_DECLS

long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
Expand All @@ -64,19 +62,6 @@ __END_DECLS
namespace px4
{

void init_once();

void init_once()
{
_shell_task_id = pthread_self();
//printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);

work_queues_init();
hrt_work_queue_init();

px4_platform_init();
}

void init(int argc, char *argv[], const char *app_name)
{
printf("\n");
Expand All @@ -96,6 +81,11 @@ void init(int argc, char *argv[], const char *app_name)
#else
(void)pthread_setname_np(pthread_self(), app_name);
#endif

work_queues_init();
hrt_work_queue_init();

px4_platform_init();
}

uint64_t get_time_micros()
Expand Down
8 changes: 0 additions & 8 deletions platforms/posix/src/px4_layer/px4_posix_tasks.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,6 @@
#define PX4_MAX_TASKS 50
#define SHELL_TASK_ID (PX4_MAX_TASKS+1)

pthread_t _shell_task_id = 0;
pthread_mutex_t task_mutex = PTHREAD_MUTEX_INITIALIZER;

struct task_entry {
Expand Down Expand Up @@ -111,13 +110,6 @@ static void *entry_adapter(void *ptr)
return nullptr;
}

void
px4_systemreset(bool to_bootloader)
{
PX4_WARN("Called px4_system_reset");
system_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[])
{
Expand Down
8 changes: 0 additions & 8 deletions src/platforms/apps.cpp.in
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@
extern "C" {

${builtin_apps_decl_string}
int shutdown_main(int argc, char *argv[]);
int list_tasks_main(int argc, char *argv[]);
int list_files_main(int argc, char *argv[]);
int list_devices_main(int argc, char *argv[]);
Expand All @@ -31,7 +30,6 @@ extern void px4_show_devices(void);
void init_app_map(apps_map_type &apps)
{
${builtin_apps_string}
apps["shutdown"] = shutdown_main;
apps["list_tasks"] = list_tasks_main;
apps["list_files"] = list_files_main;
apps["list_devices"] = list_devices_main;
Expand All @@ -48,12 +46,6 @@ void list_builtins(apps_map_type &apps)
}
}

int shutdown_main(int argc, char *argv[])
{
printf("Shutting down\n");
system_exit(0);
}

int list_tasks_main(int argc, char *argv[])
{
px4_show_tasks();
Expand Down