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AP_HAL_Linux: Scheduler: move synchronization to common method

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This commit is contained in:
Lucas De Marchi 2016-02-02 21:07:23 -02:00
parent 66e6cd60d8
commit 2b0e214168
2 changed files with 27 additions and 22 deletions
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26
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -52,7 +52,6 @@ extern const AP_HAL::HAL& hal;
#define APM_LINUX_IO_PERIOD 20000
#endif // CONFIG_HAL_BOARD_SUBTYPE
Scheduler::Scheduler()
{ }
@ -280,10 +279,6 @@ void Scheduler::_run_timers(bool called_from_timer_thread)
void Scheduler::_timer_task()
{
while (system_initializing()) {
poll(NULL, 0, 1);
}
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
printf("Initialising rpcmem\n");
rpcmem_init();
@ -336,9 +331,6 @@ void Scheduler::_run_io(void)
void Scheduler::_rcin_task()
{
while (system_initializing()) {
poll(NULL, 0, 1);
}
while (true) {
microsleep(APM_LINUX_RCIN_PERIOD);
#if !HAL_LINUX_UARTS_ON_TIMER_THREAD
@ -368,9 +360,6 @@ void Scheduler::_run_uarts()
void Scheduler::_uart_task()
{
while (system_initializing()) {
poll(NULL, 0, 1);
}
while (true) {
microsleep(APM_LINUX_UART_PERIOD);
#if !HAL_LINUX_UARTS_ON_TIMER_THREAD
@ -381,9 +370,6 @@ void Scheduler::_uart_task()
void Scheduler::_tonealarm_task()
{
while (system_initializing()) {
poll(NULL, 0, 1);
}
while (true) {
microsleep(APM_LINUX_TONEALARM_PERIOD);
@ -394,9 +380,6 @@ void Scheduler::_tonealarm_task()
void Scheduler::_io_task()
{
while (system_initializing()) {
poll(NULL, 0, 1);
}
while (true) {
microsleep(APM_LINUX_IO_PERIOD);
@ -443,3 +426,12 @@ void Scheduler::stop_clock(uint64_t time_usec)
_run_io();
}
}
bool Scheduler::SchedulerThread::_run()
{
while (_sched.system_initializing()) {
poll(NULL, 0, 1);
}
return Thread::_run();
}

23
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -47,6 +47,19 @@ public:
void microsleep(uint32_t usec);
private:
class SchedulerThread : public Thread {
public:
SchedulerThread(Thread::task_t t, Scheduler &sched)
: Thread(t)
, _sched(sched)
{ }
protected:
bool _run() override;
Scheduler &_sched;
};
void _timer_handler(int signum);
AP_HAL::Proc _delay_cb;
@ -77,11 +90,11 @@ private:
volatile bool _timer_event_missed;
Thread _timer_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_timer_task, void)};
Thread _io_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_io_task, void)};
Thread _rcin_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_rcin_task, void)};
Thread _uart_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_uart_task, void)};
Thread _tonealarm_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_tonealarm_task, void)};
SchedulerThread _timer_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_timer_task, void), *this};
SchedulerThread _io_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_io_task, void), *this};
SchedulerThread _rcin_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_rcin_task, void), *this};
SchedulerThread _uart_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_uart_task, void), *this};
SchedulerThread _tonealarm_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_tonealarm_task, void), *this};
void _timer_task();
void _io_task();