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AP_GPS: use WITH_SEMAPHORE() 

and removed usage of hal.util->new_semaphore()
This commit is contained in:
Andrew Tridgell 2018-10-12 10:35:03 +11:00
parent a260792e9e
commit 249291eac0
2 changed files with 4 additions and 7 deletions
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9
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -36,7 +36,7 @@ UC_REGISTRY_BINDER(FixCb, uavcan::equipment::gnss::Fix);
UC_REGISTRY_BINDER(AuxCb, uavcan::equipment::gnss::Auxiliary); UC_REGISTRY_BINDER(AuxCb, uavcan::equipment::gnss::Auxiliary);
AP_GPS_UAVCAN::DetectedModules AP_GPS_UAVCAN::_detected_modules[] = {0}; AP_GPS_UAVCAN::DetectedModules AP_GPS_UAVCAN::_detected_modules[] = {0};
AP_HAL::Semaphore* AP_GPS_UAVCAN::_sem_registry = nullptr; HAL_Semaphore AP_GPS_UAVCAN::_sem_registry;
// Member Methods // Member Methods
AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state) : AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state) :
@ -78,15 +78,12 @@ void AP_GPS_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
bool AP_GPS_UAVCAN::take_registry() bool AP_GPS_UAVCAN::take_registry()
{ {
if (_sem_registry == nullptr) { return _sem_registry.take(HAL_SEMAPHORE_BLOCK_FOREVER);
_sem_registry = hal.util->new_semaphore();
}
return _sem_registry->take(HAL_SEMAPHORE_BLOCK_FOREVER);
} }
void AP_GPS_UAVCAN::give_registry() void AP_GPS_UAVCAN::give_registry()
{ {
_sem_registry->give(); _sem_registry.give();
} }
AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state) AP_GPS_Backend* AP_GPS_UAVCAN::probe(AP_GPS &_gps, AP_GPS::GPS_State &_state)

2
libraries/AP_GPS/AP_GPS_UAVCAN.h
View File

@ -65,5 +65,5 @@ private:
AP_GPS_UAVCAN* driver; AP_GPS_UAVCAN* driver;
} _detected_modules[GPS_MAX_RECEIVERS]; } _detected_modules[GPS_MAX_RECEIVERS];
static AP_HAL::Semaphore *_sem_registry; static HAL_Semaphore _sem_registry;
}; };