From 11630b7f7e4b33ff1545c2235f8a6c9a2f91cf2f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 27 Oct 2012 13:43:41 -0500
Subject: [PATCH] SanityCheck: Directly query the task monitor

---
 flight/Libraries/inc/taskmonitor.h |  1 +
 flight/Libraries/sanitycheck.c     | 14 +++++---------
 flight/Libraries/taskmonitor.c     | 10 ++++++++++
 3 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/flight/Libraries/inc/taskmonitor.h b/flight/Libraries/inc/taskmonitor.h
index 112598f1b..6492cee06 100644
--- a/flight/Libraries/inc/taskmonitor.h
+++ b/flight/Libraries/inc/taskmonitor.h
@@ -33,6 +33,7 @@
 int32_t TaskMonitorInitialize(void);
 int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
 int32_t TaskMonitorRemove(TaskInfoRunningElem task);
+bool TaskMonitorQueryRunning(TaskInfoRunningElem task);
 void TaskMonitorUpdateAll(void);
 
 #endif // TASKMONITOR_H
diff --git a/flight/Libraries/sanitycheck.c b/flight/Libraries/sanitycheck.c
index 50120343e..d94d94cb2 100644
--- a/flight/Libraries/sanitycheck.c
+++ b/flight/Libraries/sanitycheck.c
@@ -27,9 +27,9 @@
  */
 
 #include "openpilot.h"
+#include "taskmonitor.h"
 #include <pios_board_info.h>
 #include "sanitycheck.h"
-#include "taskinfo.h"
 #include "manualcontrolsettings.h"
 #include "systemalarms.h"
 #include "systemsettings.h"
@@ -75,10 +75,6 @@ int32_t configuration_check()
 			multirotor = false;
 	}
 
-	// Get the running modules
-	uint8_t running[TASKINFO_RUNNING_NUMELEM];
-	TaskInfoRunningGet(running);
-
 	// For each available flight mode position sanity check the available
 	// modes
 	uint8_t num_modes;
@@ -102,7 +98,7 @@ int32_t configuration_check()
 					status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : status;
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
-				if (running[TASKINFO_RUNNING_AUTOTUNE] != TASKINFO_RUNNING_TRUE)
+				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE))
 					status = SYSTEMALARMS_ALARM_ERROR;
 				break;
 			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
@@ -110,7 +106,7 @@ int32_t configuration_check()
 					status = SYSTEMALARMS_ALARM_ERROR;
 				else {
 					// Revo supports altitude hold
-					if(running[TASKINFO_RUNNING_ALTITUDEHOLD] != TASKINFO_RUNNING_TRUE)
+				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD))
 						status = SYSTEMALARMS_ALARM_ERROR;
 				}
 				break;
@@ -119,7 +115,7 @@ int32_t configuration_check()
 					status = SYSTEMALARMS_ALARM_ERROR;
 				else {
 					// Revo supports altitude hold
-					if(running[TASKINFO_RUNNING_GUIDANCE] != TASKINFO_RUNNING_TRUE)
+					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_GUIDANCE))
 						status = SYSTEMALARMS_ALARM_ERROR;
 				}
 				break;
@@ -128,7 +124,7 @@ int32_t configuration_check()
 					status = SYSTEMALARMS_ALARM_ERROR;
 				else {
 					// Revo supports altitude hold
-					if(running[TASKINFO_RUNNING_GUIDANCE] != TASKINFO_RUNNING_TRUE)
+					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_GUIDANCE))
 						status = SYSTEMALARMS_ALARM_ERROR;
 				}
 				break;
diff --git a/flight/Libraries/taskmonitor.c b/flight/Libraries/taskmonitor.c
index 0ea4cbf52..6fc1c4dc3 100644
--- a/flight/Libraries/taskmonitor.c
+++ b/flight/Libraries/taskmonitor.c
@@ -89,6 +89,16 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
 	}
 }
 
+/**
+ * Query if a task is running
+ */
+bool TaskMonitorQueryRunning(TaskInfoRunningElem task)
+{
+	if (task < TASKINFO_RUNNING_NUMELEM && handles[task] != 0)
+		return true;
+	return false;
+}
+
 /**
  * Update the status of all tasks
  */