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AP_HAL_VRBRAIN: Scheduler: replace use of in_timerprocess()

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This function actually checks if we are not in the main thread rather
than if we are in the timer thread.

Add a new function that does what it's supposed to do.
This commit is contained in:
Lucas De Marchi 2017-08-02 01:46:17 -07:00
parent 1aaba01622
commit 08637f1dcc
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_HAL_VRBRAIN/Scheduler.cpp
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@ -138,7 +138,7 @@ void VRBRAINScheduler::delay_microseconds_boost(uint16_t usec)
void VRBRAINScheduler::delay(uint16_t ms)
{
if (in_timerprocess()) {
if (!in_main_thread()) {
::printf("ERROR: delay() from timer process\n");
return;
}
@ -375,6 +375,11 @@ bool VRBRAINScheduler::in_timerprocess()
return getpid() != _main_task_pid;
}
bool VRBRAINScheduler::in_main_thread()
{
return getpid() == _main_task_pid;
}
void VRBRAINScheduler::system_initialized() {
if (_initialized) {
AP_HAL::panic("PANIC: scheduler::system_initialized called"