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AP_Notify: add mutex against maniplating sf windows from different threads

This commit is contained in:
Peter Barker 2019-05-16 14:14:04 +10:00 committed by Andrew Tridgell
parent 316db6e4b6
commit 02e34c95c9
2 changed files with 31 additions and 16 deletions
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4
libraries/AP_Notify/AP_Notify.h
View File

@ -157,6 +157,10 @@ public:
uint8_t get_buzz_pin() const { return _buzzer_pin; }
uint8_t get_buzz_level() const { return _buzzer_level; }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
HAL_Semaphore sf_window_mutex;
#endif
private:
static AP_Notify *_singleton;

43
libraries/AP_Notify/SITL_SFML_LED.cpp
View File

@ -15,6 +15,7 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Notify/AP_Notify.h>
#include <stdio.h>
#include <unistd.h>
@ -33,28 +34,38 @@ SITL_SFML_LED::SITL_SFML_LED():
void SITL_SFML_LED::update_thread(void)
{
sf::RenderWindow *w = new sf::RenderWindow(sf::VideoMode(width, height), "LED");
sf::RenderWindow *w;
{
WITH_SEMAPHORE(AP::notify().sf_window_mutex);
w = new sf::RenderWindow(sf::VideoMode(width, height), "LED");
}
if (!w) {
AP_HAL::panic("Unable to create RGBLed window");
}
while (w->isOpen()) {
sf::Event event;
while (w->pollEvent(event)) {
if (event.type == sf::Event::Closed) {
w->close();
while (true) {
{
WITH_SEMAPHORE(AP::notify().sf_window_mutex);
sf::Event event;
while (w->pollEvent(event)) {
if (event.type == sf::Event::Closed) {
w->close();
break;
}
}
if (!w->isOpen()) {
break;
}
const uint32_t colour = red<<16 | green<<8 | blue;
if (colour != last_colour) {
last_colour = colour;
w->clear(sf::Color(red, green, blue, 255));
w->display();
}
}
uint32_t colour = red<<16 | green<<8 | blue;
if (colour == last_colour) {
usleep(10000);
continue;
}
last_colour = colour;
w->clear(sf::Color(red, green, blue, 255));
w->display();
usleep(10000);
}
}