px4启动流程分析#

简单分析以下px4 的启动流程，加深下对px4 框架的理解。
以linux平台 (platforms/posix) 进行分析。

启动 px4 主函数#

cmake 编译对象 px4#

通过搜索 add_executable 可以找到px4 主程序的编译配置：

### px4/platforms/posix/CMakeLists.txt

add_executable(px4
src/px4/common/main.cpp
apps.cpp
)

# ...

target_link_libraries(px4
PRIVATE
  ${module_libraries}
  m
  parameters
)

编译对象 px4 就是要生成的主程序，位置在 src/px4/common/main.cpp
- apps.cpp 这个编译过程中生成的文件，作用是导出 module 入口函数，这个后面再详细说。
连接对象 ${module_libraries} 就是实际需要的 module 的列表，编译时生成。

px4 main函数#

main 函数入口如下：

/// px4/platforms/posix/src/px4/common/main.cpp
#ifdef __PX4_SITL_MAIN_OVERRIDE
extern "C" {
__EXPORT int SITL_MAIN(int argc, char **argv);
}

int SITL_MAIN(int argc, char **argv)
#else
int main(int argc, char **argv)
#endif
{
 bool is_client = false;
 bool pxh_off = false;
 bool server_is_running = false;

 /* Symlinks point to all commands that can be used as a client with a prefix. */
 const char prefix[] = PX4_SHELL_COMMAND_PREFIX;
 int path_length = 0;

 std::string absolute_binary_path; // full path to the px4 binary being executed

可以看到有一个宏定义 __PX4_SITL_MAIN_OVERRIDE, 这个可以用来把 main 函数变成 SITL_MAIN，相当于把px4编译成动态库而不是主程序；
- 特殊情况下会用到，外部去加载px4程序；

`apps.cpp` 生成文件(组件注册表)#

该文件如下(编译时生成)：

/// px4/build/linux_t113/platforms/posix/apps.cpp

#include <cstdlib>

#define MODULE_NAME "px4"

extern "C" {

int cdev_test_main(int argc, char *argv[]);
int controllib_test_main(int argc, char *argv[]);
int rc_tests_main(int argc, char *argv[]);
int uorb_tests_main(int argc, char *argv[]);
int wqueue_test_main(int argc, char *argv[]);
int auxio_main(int argc, char *argv[]);
int bmp388_main(int argc, char *argv[]);
int gps_main(int argc, char *argv[]);
int bmi088_main(int argc, char *argv[]);
int ist8310_main(int argc, char *argv[]);
int linux_pwm_out_main(int argc, char *argv[]);

// ...

void init_app_map(apps_map_type &apps)
{
 apps["cdev_test"] = cdev_test_main;
 apps["controllib_test"] = controllib_test_main;
 apps["rc_tests"] = rc_tests_main;
 apps["uorb_tests"] = uorb_tests_main;
 apps["wqueue_test"] = wqueue_test_main;
 apps["auxio"] = auxio_main;
 apps["linux_pwm_out"] = linux_pwm_out_main;

app.h 文件：

/// px4/build/linux_t113/platforms/posix/apps.h

#pragma once

#include <px4_platform_common/tasks.h> // px4_main_t
#include <map>
#include <string>

// Maps an app name to it's function.
typedef std::map<std::string, px4_main_t> apps_map_type;

// Initialize an apps map.
__EXPORT void init_app_map(apps_map_type &apps);

// List an apps map.
__EXPORT void list_builtins(apps_map_type &apps);

通过该文件我们就能明白 px4 module 模块组件的整个注册机制，以 linux_pwm_out 模块举例：
- linux_pwm_out 导出入口启动函数 extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[])
- px4 编译时生成 apps.cpp 组件注册表函数 init_app_map, 包含 apps["linux_pwm_out"] = linux_pwm_out_main; 的注册；
- module 模块组件启动按照组件 name从map里找到对应入口函数去启动。

px4 启动流程序列图#

简单画了以下 px4 启动流程，如下：
px4 主要是单进程多线程运行的；
启动脚本 px4_mc.config 是通过启动px4进程 px4_daemon::Client 将命令送给 px4_daemon::Server 运行的;
- 所以启动设置过程中，会有多个 px4 的进程，通过 px -aux | grep px4 可以查看到；
- 启动完成后，只有一个px4进程(px4_daemon::Server);
pxh 是 px4 的命令行工具，默认启动，通过设置启动参数加 -d 可以关闭；

px4 启动线程分析#

px4 默认编译带debug信息，直接用gdb查看运行中的px4 , 使用 gdb attach [px4 pid]:

Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
__GI___libc_read (nbytes=1, buf=0x7fa57ecdcb23 <_IO_2_1_stdin_+131>, fd=0) at ../sysdeps/unix/sysv/linux/read.c:26
26      ../sysdeps/unix/sysv/linux/read.c: No such file or directory.
(gdb) thread apply all bt

Thread 16 (Thread 0x7fa57aa01a40 (LWP 10276) "mavlink_rcv_if0"):
#0  0x00007fa57ebdabcf in __GI___poll (fds=fds@entry=0x7fa57a9ff078, nfds=nfds@entry=1, timeout=timeout@entry=10) at ../sysdeps/unix/sysv/linux/poll.c:29
#1  0x00005595cc04259b in poll (__timeout=10, __nfds=1, __fds=0x7fa57a9ff078) at /usr/include/x86_64-linux-gnu/bits/poll2.h:39
#2  MavlinkReceiver::run (this=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/modules/mavlink/mavlink_receiver.cpp:3120
#3  0x00005595cc043d6d in MavlinkReceiver::start_trampoline (context=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/modules/mavlink/mavlink_receiver.cpp:3484
#4  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#5  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 15 (Thread 0x7fa57aa18380 (LWP 10274) "mavlink_if0"):
#0  0x00007fa57eba77f8 in __GI___clock_nanosleep (clock_id=clock_id@entry=0, flags=flags@entry=0, req=req@entry=0x7fa57aa178d0, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78
#1  0x00007fa57ebac677 in __GI___nanosleep (req=req@entry=0x7fa57aa178d0, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/nanosleep.c:25
#2  0x00007fa57ebddf2f in usleep (useconds=<optimized out>) at ../sysdeps/posix/usleep.c:31
#3  0x00005595cc0170bc in Mavlink::task_main (this=0x7fa54c000b70, argc=<optimized out>, argv=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/modules/mavlink/mavlink_main.cpp:2207
#4  0x00005595cc01aacb in Mavlink::start_helper (argc=11, argv=0x7fa558009770) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/modules/mavlink/mavlink_main.cpp:2709
#5  0x00005595cc125a2d in entry_adapter (ptr=0x7fa558009750) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/tasks.cpp:98
#6  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#7  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 14 (Thread 0x7fa57aa27640 (LWP 10268) "commander"):
#0  0x00007fa57eba77f8 in __GI___clock_nanosleep (clock_id=clock_id@entry=0, flags=flags@entry=0, req=req@entry=0x7fa57aa26d40, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78
#1  0x00007fa57ebac677 in __GI___nanosleep (req=req@entry=0x7fa57aa26d40, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/nanosleep.c:25
#2  0x00007fa57ebddf2f in usleep (useconds=<optimized out>) at ../sysdeps/posix/usleep.c:31
#3  0x00005595cbf774b3 in Commander::run (this=0x7fa548000b70) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/modules/commander/Commander.cpp:1841
#4  0x00005595cbf7adbd in ModuleBase<Commander>::run_trampoline (argc=<optimized out>, argv=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/include/px4_platform_common/module.h:180
#5  0x00005595cc125a2d in entry_adapter (ptr=0x7fa558008e00) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/tasks.cpp:98
#6  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#7  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 13 (Thread 0x7fa57aa3c4c0 (LWP 10135) "navigator"):
#0  __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x7fa57aa3b9a0, op=137, expected=0, futex_word=0x7fa57aa3ba00) at ./nptl/futex-internal.c:57
#1  __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x7fa57aa3b9a0, clockid=0, expected=0, futex_word=0x7fa57aa3ba00) at ./nptl/futex-internal.c:87
#2  __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0x7fa57aa3ba00, expected=expected@entry=0, clockid=clockid@entry=1, abstime=abstime@entry=0x7fa57aa3b9a0, private=private@entry=0) at ./nptl/futex-internal.c:139
#3  0x00007fa57eb55e9b in __pthread_cond_wait_common (abstime=0x7fa57aa3b9a0, clockid=1, mutex=0x7fa57aa3b9b0, cond=0x7fa57aa3b9d8) at ./nptl/pthread_cond_wait.c:503
#4  ___pthread_cond_timedwait64 (cond=0x7fa57aa3b9d8, mutex=0x7fa57aa3b9b0, abstime=0x7fa57aa3b9a0) at ./nptl/pthread_cond_wait.c:652
#5  0x00005595cc125f57 in px4_sem_timedwait (s=0x7fa57aa3b9b0, abstime=0x7fa57aa3b9a0) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_sem.cpp:137
#6  0x00005595cc11d4bb in px4_poll (fds=0x7fa57aa3bb70, nfds=<optimized out>, timeout=1000) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/lib/cdev/posix/cdev_platform.cpp:405
#7  0x00005595cc06d99e in Navigator::run (this=0x7fa554000b70) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/modules/navigator/navigator_main.cpp:177
#8  0x00005595cc06d20e in ModuleBase<Navigator>::run_trampoline (argc=<optimized out>, argv=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/include/px4_platform_common/module.h:180
#9  0x00005595cc125a2d in entry_adapter (ptr=0x7fa558004f30) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/tasks.cpp:98
#10 0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#11 0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 12 (Thread 0x7fa57aa45640 (LWP 10132) "wq:rate_ctrl"):
#0  __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0x7fa57aa44d58) at ./nptl/futex-internal.c:57
#1  __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0x7fa57aa44d58) at ./nptl/futex-internal.c:87
#2  __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0x7fa57aa44d58, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139
#3  0x00007fa57eb55a41 in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x7fa57aa44d08, cond=0x7fa57aa44d30) at ./nptl/pthread_cond_wait.c:503
#4  ___pthread_cond_wait (cond=0x7fa57aa44d30, mutex=0x7fa57aa44d08) at ./nptl/pthread_cond_wait.c:627
#5  0x00005595cc125e3c in px4_sem_wait (s=0x7fa57aa44d08) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_sem.cpp:89
#6  0x00005595cc1277f8 in px4::WorkQueue::Run (this=this@entry=0x7fa57aa44c90) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueue.cpp:178
#7  0x00005595cc127e4e in px4::WorkQueueRunner (context=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueueManager.cpp:237
#8  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#9  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 11 (Thread 0x7fa57aa4e640 (LWP 10131) "wq:manager"):
#0  __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0x7fa57aa4dd58) at ./nptl/futex-internal.c:57
#1  __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0x7fa57aa4dd58) at ./nptl/futex-internal.c:87
#2  __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0x7fa57aa4dd58, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139
#3  0x00007fa57eb55a41 in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x7fa57aa4dd08, cond=0x7fa57aa4dd30) at ./nptl/pthread_cond_wait.c:503
#4  ___pthread_cond_wait (cond=0x7fa57aa4dd30, mutex=0x7fa57aa4dd08) at ./nptl/pthread_cond_wait.c:627
#5  0x00005595cc125e3c in px4_sem_wait (s=0x7fa57aa4dd08) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_sem.cpp:89
#6  0x00005595cc1277f8 in px4::WorkQueue::Run (this=this@entry=0x7fa57aa4dc90) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueue.cpp:178
#7  0x00005595cc127e4e in px4::WorkQueueRunner (context=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueueManager.cpp:237
#8  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#9  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100


Thread 10 (Thread 0x7fa57aa56640 (LWP 10126) "wq:hp_default"):
#0  __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0x7fa57aa55d58) at ./nptl/futex-internal.c:57
#1  __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0x7fa57aa55d58) at ./nptl/futex-internal.c:87
#2  __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0x7fa57aa55d58, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139
#3  0x00007fa57eb55a41 in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x7fa57aa55d08, cond=0x7fa57aa55d30) at ./nptl/pthread_cond_wait.c:503
#4  ___pthread_cond_wait (cond=0x7fa57aa55d30, mutex=0x7fa57aa55d08) at ./nptl/pthread_cond_wait.c:627
#5  0x00005595cc125e3c in px4_sem_wait (s=0x7fa57aa55d08) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_sem.cpp:89
#6  0x00005595cc1277f8 in px4::WorkQueue::Run (this=this@entry=0x7fa57aa55c90) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueue.cpp:178
#7  0x00005595cc127e4e in px4::WorkQueueRunner (context=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueueManager.cpp:237
#8  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#9  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 9 (Thread 0x7fa57aa5e640 (LWP 10123) "wq:ttyS5"):
#0  __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0x7fa57aa5dd5c) at ./nptl/futex-internal.c:57
#1  __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0x7fa57aa5dd5c) at ./nptl/futex-internal.c:87
#2  __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0x7fa57aa5dd5c, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139
#3  0x00007fa57eb55a41 in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x7fa57aa5dd08, cond=0x7fa57aa5dd30) at ./nptl/pthread_cond_wait.c:503
#4  ___pthread_cond_wait (cond=0x7fa57aa5dd30, mutex=0x7fa57aa5dd08) at ./nptl/pthread_cond_wait.c:627
#5  0x00005595cc125e3c in px4_sem_wait (s=0x7fa57aa5dd08) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_sem.cpp:89
#6  0x00005595cc1277f8 in px4::WorkQueue::Run (this=this@entry=0x7fa57aa5dc90) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueue.cpp:178
#7  0x00005595cc127e4e in px4::WorkQueueRunner (context=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueueManager.cpp:237
#8  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#9  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 8 (Thread 0x7fa57f025640 (LWP 10108) "wq:lp_default"):
#0  __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0x7fa57f024d58) at ./nptl/futex-internal.c:57
#1  __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0x7fa57f024d58) at ./nptl/futex-internal.c:87
#2  __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0x7fa57f024d58, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139
#3  0x00007fa57eb55a41 in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x7fa57f024d08, cond=0x7fa57f024d30) at ./nptl/pthread_cond_wait.c:503
#4  ___pthread_cond_wait (cond=0x7fa57f024d30, mutex=0x7fa57f024d08) at ./nptl/pthread_cond_wait.c:627
#5  0x00005595cc125e3c in px4_sem_wait (s=0x7fa57f024d08) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_sem.cpp:89
#6  0x00005595cc1277f8 in px4::WorkQueue::Run (this=this@entry=0x7fa57f024c90) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueue.cpp:178
#7  0x00005595cc127e4e in px4::WorkQueueRunner (context=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueueManager.cpp:237
#8  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#9  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 7 (Thread 0x7fa57aa96ac0 (LWP 10105) "dataman"):
#0  __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0x5595cc2a5494 <g_work_queued_sema+84>) at ./nptl/futex-internal.c:57
#1  __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0x5595cc2a5494 <g_work_queued_sema+84>) at ./nptl/futex-internal.c:87
#2  __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0x5595cc2a5494 <g_work_queued_sema+84>, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139
#3  0x00007fa57eb55a41 in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x5595cc2a5440 <g_work_queued_sema>, cond=0x5595cc2a5468 <g_work_queued_sema+40>) at ./nptl/pthread_cond_wait.c:503
#4  ___pthread_cond_wait (cond=0x5595cc2a5468 <g_work_queued_sema+40>, mutex=0x5595cc2a5440 <g_work_queued_sema>) at ./nptl/pthread_cond_wait.c:627
#5  0x00005595cc125e3c in px4_sem_wait (s=0x5595cc2a5440 <g_work_queued_sema>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_sem.cpp:89
#6  0x00005595cbf8f99a in task_main (argc=<optimized out>, argv=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/modules/dataman/dataman.cpp:1029
#7  task_main (argc=<optimized out>, argv=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/modules/dataman/dataman.cpp:941
#8  0x00005595cc125a2d in entry_adapter (ptr=0x7fa570002550) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/tasks.cpp:98
#9  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#10 0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 6 (Thread 0x7fa57aaaba40 (LWP 10015) "wq:manager"):
#0  __futex_abstimed_wait_common64 (private=0, cancel=true, abstime=0x0, op=393, expected=0, futex_word=0x7fa56c000c94) at ./nptl/futex-internal.c:57
#1  __futex_abstimed_wait_common (cancel=true, private=0, abstime=0x0, clockid=0, expected=0, futex_word=0x7fa56c000c94) at ./nptl/futex-internal.c:87
#2  __GI___futex_abstimed_wait_cancelable64 (futex_word=futex_word@entry=0x7fa56c000c94, expected=expected@entry=0, clockid=clockid@entry=0, abstime=abstime@entry=0x0, private=private@entry=0) at ./nptl/futex-internal.c:139
#3  0x00007fa57eb55a41 in __pthread_cond_wait_common (abstime=0x0, clockid=0, mutex=0x7fa56c000c40, cond=0x7fa56c000c68) at ./nptl/pthread_cond_wait.c:503
#4  ___pthread_cond_wait (cond=0x7fa56c000c68, mutex=0x7fa56c000c40) at ./nptl/pthread_cond_wait.c:627
#5  0x00005595cc125e3c in px4_sem_wait (s=0x7fa56c000c40) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_sem.cpp:89
#6  0x00005595cc127ab0 in BlockingQueue<px4::wq_config_t const*, 1ul>::pop (this=0x7fa56c000be0) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/src/include/containers/BlockingQueue.hpp:67
#7  px4::WorkQueueManagerRun () at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/px4_work_queue/WorkQueueManager.cpp:264
#8  0x00005595cc125a2d in entry_adapter (ptr=0x5595cdd31c20) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/tasks.cpp:98
#9  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#10 0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 5 (Thread 0x7fa57aabb640 (LWP 10014) "wkr_hrt"):
#0  0x00007fa57eba77f8 in __GI___clock_nanosleep (clock_id=clock_id@entry=0, flags=flags@entry=0, req=req@entry=0x7fa57aabadd0, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78
#1  0x00007fa57ebac677 in __GI___nanosleep (req=req@entry=0x7fa57aabadd0, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/nanosleep.c:25
--Type <RET> for more, q to quit, c to continue without paging--
#2  0x00007fa57ebddf2f in usleep (useconds=useconds@entry=2282) at ../sysdeps/posix/usleep.c:31
#3  0x00005595cc12d78e in hrt_work_process () at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/work_queue/hrt_thread.c:232
#4  work_hrtthread (argc=<optimized out>, argv=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/work_queue/hrt_thread.c:276
#5  0x00005595cc125a2d in entry_adapter (ptr=0x5595cdd31a00) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/tasks.cpp:98
#6  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#7  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 4 (Thread 0x7fa57f034640 (LWP 10013) "lpwork"):
#0  0x00007fa57eba77f8 in __GI___clock_nanosleep (clock_id=clock_id@entry=0, flags=flags@entry=0, req=req@entry=0x7fa57f033e00, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78
#1  0x00007fa57ebac677 in __GI___nanosleep (req=req@entry=0x7fa57f033e00, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/nanosleep.c:25
#2  0x00007fa57ebddf2f in usleep (useconds=<optimized out>) at ../sysdeps/posix/usleep.c:31
#3  0x00005595cc12dc52 in work_process (wqueue=wqueue@entry=0x5595cc2abcb8 <g_work+24>, lock_id=lock_id@entry=1) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/work_queue/work_thread.c:194
#4  0x00005595cc12dcbd in work_lpthread (argc=<optimized out>, argv=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/work_queue/work_thread.c:305
#5  0x00005595cc125a2d in entry_adapter (ptr=0x5595cdd31890) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/tasks.cpp:98
#6  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#7  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 3 (Thread 0x7fa57f043640 (LWP 10012) "hpwork"):
#0  0x00007fa57eba77f8 in __GI___clock_nanosleep (clock_id=clock_id@entry=0, flags=flags@entry=0, req=req@entry=0x7fa57f042e00, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/clock_nanosleep.c:78
#1  0x00007fa57ebac677 in __GI___nanosleep (req=req@entry=0x7fa57f042e00, rem=rem@entry=0x0) at ../sysdeps/unix/sysv/linux/nanosleep.c:25
#2  0x00007fa57ebddf2f in usleep (useconds=<optimized out>) at ../sysdeps/posix/usleep.c:31
#3  0x00005595cc12dc52 in work_process (wqueue=wqueue@entry=0x5595cc2abca0 <g_work>, lock_id=lock_id@entry=0) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/work_queue/work_thread.c:194
#4  0x00005595cc12dc9a in work_hpthread (argc=<optimized out>, argv=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/common/work_queue/work_thread.c:279
#5  0x00005595cc125a2d in entry_adapter (ptr=0x5595cdd31720) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/tasks.cpp:98
#6  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#7  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

Thread 2 (Thread 0x7fa57eabc640 (LWP 10011) "px4"):
#0  0x00007fa57ebdabcf in __GI___poll (fds=0x7fa574000ee0, nfds=1, timeout=-1) at ../sysdeps/unix/sysv/linux/poll.c:29
#1  0x00005595cc12cd4e in poll (__timeout=-1, __nfds=1, __fds=<optimized out>) at /usr/include/x86_64-linux-gnu/bits/poll2.h:39
#2  px4_daemon::Server::_server_main (this=0x7fffb5e9dbf0) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_daemon/server.cpp:150
#3  0x00005595cc12d30d in px4_daemon::Server::_server_main_trampoline (self=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_daemon/server.cpp:120
#4  0x00007fa57eb56ac3 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#5  0x00007fa57ebe7a04 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:100

--Type <RET> for more, q to quit, c to continue without paging--
Thread 1 (Thread 0x7fa57eabd740 (LWP 10010) "px4"):
#0  __GI___libc_read (nbytes=1, buf=0x7fa57ecdcb23 <_IO_2_1_stdin_+131>, fd=0) at ../sysdeps/unix/sysv/linux/read.c:26
#1  __GI___libc_read (fd=0, buf=0x7fa57ecdcb23 <_IO_2_1_stdin_+131>, nbytes=1) at ../sysdeps/unix/sysv/linux/read.c:24
#2  0x00007fa57eb4ec36 in _IO_new_file_underflow (fp=0x7fa57ecdcaa0 <_IO_2_1_stdin_>) at ./libio/libioP.h:947
#3  0x00007fa57eb4fd96 in __GI__IO_default_uflow (fp=0x7fa57ecdcaa0 <_IO_2_1_stdin_>) at ./libio/libioP.h:947
#4  0x00007fa57eb49a98 in _IO_getc (fp=0x7fa57ecdcaa0 <_IO_2_1_stdin_>) at ./libio/getc.c:40
#5  0x00005595cc12b357 in getchar () at /usr/include/x86_64-linux-gnu/bits/stdio.h:49
#6  px4_daemon::Pxh::run_pxh (this=this@entry=0x7fffb5e9dc90) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/px4_daemon/pxh.cpp:312
#7  0x00005595cbf3f799 in main (argc=<optimized out>, argv=<optimized out>) at /opt/tong/ws/px4/PX4_Autopilot/3rd/px4/platforms/posix/src/px4/common/main.cpp:407
(gdb)
(gdb)
(gdb)

线程数量不少，不过都加了线程名，方便分析

Thread 1 : px4#

px4 主程序，到最后运行 px4_daemon::Pxh::run_pxh()，即 px4 shell;

Thread 2 : px4#

px4 px4_daemon::Server 线程；
处理 Client 的指令，用来设置参数或启动 module 模块组件；

Thread 3-4 : hpwork,lpwork#

hpwork: 高优先级任务队列
lpwork: 低优先级任务队列
可以通过 work_queue 向指定队列添加任务

/// px4/platforms/common/work_queue/work_thread.c

// Create high priority worker thread
g_work[HPWORK].pid = px4_task_spawn_cmd("hpwork",
     SCHED_DEFAULT,
     SCHED_PRIORITY_MAX - 1,
     2000,
     work_hpthread,
     (char *const *)NULL);

// Create low priority worker thread
g_work[LPWORK].pid = px4_task_spawn_cmd("lpwork",
     SCHED_DEFAULT,
     SCHED_PRIORITY_MIN,
     2000,
     work_lpthread,
     (char *const *)NULL);

Thread 5 : wkr_hrt#

wkr_hrt ：高优先级实时任务线程
看着实现和 hpwork 差不多，都是通过 px4_usleep(next); 睡眠等待下一个 task 执行；

/// px4/platforms/common/work_queue/hrt_thread.c

// Create high priority worker thread
g_hrt_work.pid = px4_task_spawn_cmd("wkr_hrt",
     SCHED_DEFAULT,
     SCHED_PRIORITY_MAX,
     2000,
     work_hrtthread,
     (char *const *)NULL);

Thread 6 : wq:manager#

workqueue manager , 创建管理任务队列的
- 通过 WorkQueue *WorkQueueFindOrCreate(const wq_config_t &new_wq); 添加新的队列或获取；
- 通过 void WorkQueue::Add(WorkItem *item); 添加新的任务；

/// px4/platforms/common/px4_work_queue/WorkQueueManager.cpp

int task_id = px4_task_spawn_cmd("wq:manager",
 SCHED_DEFAULT,
 SCHED_PRIORITY_MAX,
 PX4_STACK_ADJUSTED(1280),
 (px4_main_t)&WorkQueueManagerRun,
 nullptr);

Thread 7 : dataman#

dataman 组件,用来数据持久化的，px4/src/modules/dataman/CMakeLists.txt
以下是模块的介绍：
- 该模块通过 C API 提供一种简单数据库形式的持久存储，以供系统的其他部分使用。支持多种后端：
  - 文件（例如在 SD 卡上）
  - 内存（显然这不是持久存储）
- 用于存储不同类型的结构化数据：任务航点、任务状态和电子围栏多边形。
- 每种类型都有特定的数据类型和固定的最大存储条目数量，从而能够实现快速随机访问。
- 实现：读取和写入单个条目总是原子的。如果需要原子地读取/修改多个条目，每种条目类型都会通过 dm_lock 提供额外的锁
使用基本函数 dm_read(...) , dm_write(...)
实际写入磁盘IO 是通过线程异步的，避免磁盘IO 的延迟影响；

/// px4/src/modules/dataman/dataman.cpp

/* start the worker thread with low priority for disk IO */
if ((task = px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 10,
    PX4_STACK_ADJUSTED(TASK_STACK_SIZE), task_main,
    nullptr)) < 0) {
 px4_sem_destroy(&g_init_sema);
 PX4_ERR("task start failed");
 return -1;
}

Thread 8-12 ： wq:**#

以下都是通过 wq:manager 管理的队列：
- wq:lp_default ：低优先级队列
- wq:hp_default ：高优先级队列
- wq:ttyS5 ：串口serial 数据处理队列
- wq:manager ：这个版本好像没什么作用，搜索 wq:manager 没有向这个队列添加任务；
- wq:rate_ctrl : 使用该队列组件：control_allocator,mc_rate_control,vehicle_angular_velocity
这个应该是新的线程池方案，大部分组件都是通过该线程池接口添加任务的，hpwork,lpwork 使用的地方就不多。

Thread 13: navigator#

导航组件，贴一下组件描述：
- 负责自主飞行模式的模块。这包括任务（从数据管理器读取）、起飞和返航。它还负责检查地理围栏违规。
- 实现：不同的内部模式被实现为继承自共同基类 NavigatorMode 的独立类。成员 _navigation_mode 包含当前激活的模式。
- 导航器发布位置设定点三元组（position_setpoint_triplet_s），然后由位置控制器使用。

Thread 14: commander#

命令组件，给无人机发指令,如：commander takeoff , commander land, ...

Thread 15-16: mavlink_if0,mavlink_rcv_if0#

mavlink 组件相关线程；
mavlink 是用于地面站通信的轻量级消息协议，负责飞行器与外部系统（如QGroundControl）的通信。

小结#

该px4运行堆栈是基于t113编译对象运行的，其他的可能有差异，因为启动的 module 模块组件不同，但原理都是类似的。

px4 module组件启动流程(board_adc)#

以组件 board_adc 为例分析
board_adc 路径： px4/src/drivers/adc/board_adc/CMakeLists.txt

有两个重要的基类： ModuleBase<ADC>, px4::ScheduledWorkItem
- ModuleBase<T>: px4 模块化框架，用来处理组件实例化，销毁，及其他命令行指令；
- px4::ScheduledWorkItem: 实现定时调度工作项，将当前组件绑定到指定任务队列，并可以配置周期运行组件的 void Run() override;
module 都是单例，存在于 px4_daemon::Server 所在进程；
启动后，如果组件内部没有创建新的进程，组件的运行是通过消息和绑定的工作队列进行驱动的。

px4_sitl 命令行启动日志#

按照脚本里面配置来设置参数，启动模块。

[ /root/ws/PX4-Autopilot/build/px4_sitl_default/bin/px4 /root/ws/PX4-Autopilot/build/px4_sitl_default/etc ]
[ px4-param --instance 0 select parameters.bson ]
[ px4-param --instance 0 import ]
[ px4-param --instance 0 select-backup parameters_backup.bson ]
[ px4-param --instance 0 compare SYS_AUTOSTART 10015 ]
[ px4-param --instance 0 compare SYS_AUTOCONFIG 1 ]
[ px4-param --instance 0 set MAV_SYS_ID 1 ]
[ px4-param --instance 0 set UXRCE_DDS_KEY 1 ]
[ px4-param --instance 0 set-default BAT1_N_CELLS 4 ]
[ px4-param --instance 0 set-default CBRK_AIRSPD_CHK 0 ]
[ px4-param --instance 0 set-default CBRK_SUPPLY_CHK 894281 ]
[ px4-param --instance 0 set-default COM_CPU_MAX -1 ]
[ px4-param --instance 0 set-default COM_RC_IN_MODE 1 ]
[ px4-param --instance 0 set-default EKF2_REQ_GPS_H 0.5 ]
[ px4-param --instance 0 set-default EKF2_MULTI_IMU 3 ]
[ px4-param --instance 0 set-default SENS_IMU_MODE 0 ]
[ px4-param --instance 0 set-default IMU_GYRO_FFT_EN 1 ]
[ px4-param --instance 0 set-default MAV_PROTO_VER 2 ]
[ px4-param --instance 0 set-default -s MC_AT_EN 1 ]
[ px4-param --instance 0 set-default SDLOG_MODE 1 ]
[ px4-param --instance 0 set-default SDLOG_PROFILE 131 ]
[ px4-param --instance 0 set-default SDLOG_DIRS_MAX 7 ]
[ px4-param --instance 0 set-default TRIG_INTERFACE 3 ]
[ px4-param --instance 0 set-default SYS_FAILURE_EN 1 ]
[ px4-param --instance 0 set-default COM_LOW_BAT_ACT 2 ]
[ px4-param --instance 0 show -q SYS_AUTOSTART ]
[ px4-param --instance 0 set-default MAV_TYPE 2 ]
[ px4-param --instance 0 compare IMU_GYRO_RATEMAX 400 ]
[ px4-param --instance 0 set-default IMU_GYRO_RATEMAX 800 ]
[ px4-param --instance 0 set-default NAV_ACC_RAD 2 ]
[ px4-param --instance 0 set-default RTL_RETURN_ALT 30 ]
[ px4-param --instance 0 set-default RTL_DESCEND_ALT 10 ]
[ px4-param --instance 0 set-default GPS_UBX_DYNMODEL 6 ]
[ px4-param --instance 0 set-default CA_AIRFRAME 0 ]
[ px4-param --instance 0 set-default CA_ROTOR_COUNT 4 ]
[ px4-param --instance 0 set-default CA_ROTOR0_PX 0.1515 ]
[ px4-param --instance 0 set-default CA_ROTOR0_PY 0.245 ]
[ px4-param --instance 0 set-default CA_ROTOR0_KM 0.05 ]
[ px4-param --instance 0 set-default CA_ROTOR1_PX -0.1515 ]
[ px4-param --instance 0 set-default CA_ROTOR1_PY -0.1875 ]
[ px4-param --instance 0 set-default CA_ROTOR1_KM 0.05 ]
[ px4-param --instance 0 set-default CA_ROTOR2_PX 0.1515 ]
[ px4-param --instance 0 set-default CA_ROTOR2_PY -0.245 ]
[ px4-param --instance 0 set-default CA_ROTOR2_KM -0.05 ]
[ px4-param --instance 0 set-default CA_ROTOR3_PX -0.1515 ]
[ px4-param --instance 0 set-default CA_ROTOR3_PY 0.1875 ]
[ px4-param --instance 0 set-default CA_ROTOR3_KM -0.05 ]
[ px4-param --instance 0 set-default PWM_MAIN_FUNC1 101 ]
[ px4-param --instance 0 set-default PWM_MAIN_FUNC2 102 ]
[ px4-param --instance 0 set-default PWM_MAIN_FUNC3 103 ]
[ px4-param --instance 0 set-default PWM_MAIN_FUNC4 104 ]
[ px4-dataman --instance 0 start ]
[ px4-replay --instance 0 tryapplyparams ]
[ px4-param --instance 0 set-default IMU_INTEG_RATE 250 ]
[ px4-param --instance 0 show -q SYS_AUTOSTART ]
[ px4-param --instance 0 show -q SIM_GZ_EN ]
[ px4-param --instance 0 show -q SYS_AUTOSTART ]
[ px4-simulator_mavlink --instance 0 start -c 4560 ]
[ px4-load_mon --instance 0 start ]
[ px4-battery_simulator --instance 0 start ]
[ px4-tone_alarm --instance 0 start ]
[ px4-rc_update --instance 0 start ]
[ px4-manual_control --instance 0 start ]
[ px4-sensors --instance 0 start ]
[ px4-commander --instance 0 start ]
[ px4-pwm_out_sim --instance 0 start -m sim ]
[ px4-param --instance 0 compare SYS_MC_EST_GROUP 1 ]
[ px4-param --instance 0 compare SYS_MC_EST_GROUP 3 ]
[ px4-param --instance 0 set SYS_MC_EST_GROUP 2 ]
[ px4-control_allocator --instance 0 start ]
[ px4-ekf2 --instance 0 start ]
[ px4-mc_rate_control --instance 0 start ]
[ px4-mc_att_control --instance 0 start ]
[ px4-param --instance 0 greater -s MC_AT_EN 0 ]
[ px4-mc_autotune_attitude_control --instance 0 start ]
[ px4-mc_hover_thrust_estimator --instance 0 start ]
[ px4-flight_mode_manager --instance 0 start ]
[ px4-mc_pos_control --instance 0 start ]
[ px4-land_detector --instance 0 start multicopter ]
[ px4-navigator --instance 0 start ]
[ px4-param --instance 0 set UXRCE_DDS_DOM_ID 0 ]
[ px4-uxrce_dds_client --instance 0 start -t udp -h 127.0.0.1 -p 8888 ]
[ px4-param --instance 0 greater -s MNT_MODE_IN -1 ]
[ px4-param --instance 0 greater -s TRIG_MODE 0 ]
[ px4-param --instance 0 compare -s IMU_GYRO_FFT_EN 1 ]
[ px4-gyro_fft --instance 0 start ]
[ px4-param --instance 0 compare -s IMU_GYRO_CAL_EN 1 ]
[ px4-gyro_calibration --instance 0 start ]
[ px4-param --instance 0 compare -s PD_GRIPPER_EN 1 ]
[ px4-mavlink --instance 0 start -x -u 18570 -r 4000000 -f ]
[ px4-mavlink --instance 0 stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 18570 ]
[ px4-mavlink --instance 0 stream -r 50 -s LOCAL_POSITION_NED -u 18570 ]
[ px4-mavlink --instance 0 stream -r 50 -s GLOBAL_POSITION_INT -u 18570 ]
[ px4-mavlink --instance 0 stream -r 50 -s ATTITUDE -u 18570 ]
[ px4-mavlink --instance 0 stream -r 50 -s ATTITUDE_QUATERNION -u 18570 ]
[ px4-mavlink --instance 0 stream -r 50 -s ATTITUDE_TARGET -u 18570 ]
[ px4-mavlink --instance 0 stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 18570 ]
[ px4-mavlink --instance 0 stream -r 20 -s RC_CHANNELS -u 18570 ]
[ px4-mavlink --instance 0 stream -r 10 -s OPTICAL_FLOW_RAD -u 18570 ]
[ px4-mavlink --instance 0 start -x -u 14580 -r 4000000 -f -m onboard -o 14540 ]
[ px4-mavlink --instance 0 start -x -u 14280 -r 4000 -f -m onboard -o 14030 ]
[ px4-mavlink --instance 0 start -x -u 13030 -r 400000 -m gimbal -o 13280 ]
[ px4-param --instance 0 compare SYS_MC_EST_GROUP 2 ]
[ px4-param --instance 0 compare SDLOG_MODE 1 ]
[ px4-param --instance 0 compare SDLOG_MODE 2 ]
[ px4-param --instance 0 compare SDLOG_MODE 3 ]
[ px4-param --instance 0 compare SDLOG_MODE 4 ]
[ px4-param --instance 0 compare SDLOG_MODE -1 ]
[ px4-logger --instance 0 start -b 1000 -t -p ekf2_timestamps -e ]
[ px4-mavlink --instance 0 boot_complete ]
[ px4-replay --instance 0 trystart ]

initialize_fake_px4_once#

/// px4/platforms/posix/src/px4/common/main_fuzztesting.cpp

void initialize_fake_px4_once()
{
 static bool first_time = true;

 if (!first_time) {
  return;
 }

 first_time = false;

 px4::init_once();
 px4::init(0, nullptr, "px4");

 px4_daemon::Pxh pxh;
 pxh.process_line("uorb start", true);
 pxh.process_line("param load", true);
 pxh.process_line("dataman start", true);
 pxh.process_line("load_mon start", true);
 pxh.process_line("battery_simulator start", true);
 pxh.process_line("tone_alarm start", true);
 pxh.process_line("rc_update start", true);
 pxh.process_line("sensors start", true);
 pxh.process_line("commander start", true);
 pxh.process_line("navigator start", true);
 pxh.process_line("ekf2 start", true);
 pxh.process_line("mc_att_control start", true);
 pxh.process_line("mc_pos_control start", true);
 pxh.process_line("land_detector start multicopter", true);
 pxh.process_line("logger start", true);
 pxh.process_line("mavlink start -x -o 14540 -r 4000000", true);
 pxh.process_line("mavlink boot_complete", true);
}

px4启动流程分析#

启动 px4 主函数#

cmake 编译对象 px4#

px4 main函数#

apps.cpp 生成文件(组件注册表)#

px4 启动流程序列图#

px4 启动线程分析#

Thread 1 : px4#

Thread 2 : px4#

Thread 3-4 : hpwork,lpwork#

Thread 5 : wkr_hrt#

Thread 6 : wq:manager#

Thread 7 : dataman#

Thread 8-12 ： wq:**#

Thread 13: navigator#

Thread 14: commander#

Thread 15-16: mavlink_if0,mavlink_rcv_if0#

小结#

px4 module组件启动流程(board_adc)#

px4_sitl 命令行启动日志#

initialize_fake_px4_once#

`apps.cpp` 生成文件(组件注册表)#