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AP_OSD: add mutex against maniplating sf windows from different threads

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This commit is contained in:
Peter Barker 2019-05-16 14:14:14 +10:00 committed by Andrew Tridgell
parent 02e34c95c9
commit 32a6f0026a
1 changed files with 45 additions and 36 deletions
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81
libraries/AP_OSD/AP_OSD_SITL.cpp
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@ -34,6 +34,8 @@
#include <unistd.h>
#include "pthread.h"
#include <AP_Notify/AP_Notify.h>
extern const AP_HAL::HAL &hal;
/*
@ -128,49 +130,56 @@ void AP_OSD_SITL::flush(void)
void AP_OSD_SITL::update_thread(void)
{
load_font();
w = new sf::RenderWindow(sf::VideoMode(video_cols*(char_width+char_spacing)*char_scale,
video_lines*(char_height+char_spacing)*char_scale),
"OSD");
{
WITH_SEMAPHORE(AP::notify().sf_window_mutex);
w = new sf::RenderWindow(sf::VideoMode(video_cols*(char_width+char_spacing)*char_scale,
video_lines*(char_height+char_spacing)*char_scale),
"OSD");
}
if (!w) {
AP_HAL::panic("Unable to create OSD window");
}
while (w->isOpen()) {
sf::Event event;
while (w->pollEvent(event)) {
if (event.type == sf::Event::Closed) {
w->close();
}
}
if (counter == last_counter) {
usleep(10000);
continue;
}
last_counter = counter;
uint8_t buffer2[video_lines][video_cols];
while (true) {
{
WITH_SEMAPHORE(mutex);
memcpy(buffer2, buffer, sizeof(buffer2));
}
w->clear();
for (uint8_t y=0; y<video_lines; y++) {
for (uint8_t x=0; x<video_cols; x++) {
uint16_t px = x * (char_width+char_spacing) * char_scale;
uint16_t py = y * (char_height+char_spacing) * char_scale;
sf::Sprite s;
uint8_t c = buffer2[y][x];
s.setTexture(font[c]);
s.setPosition(sf::Vector2f(px, py));
s.scale(sf::Vector2f(char_scale,char_scale));
w->draw(s);
WITH_SEMAPHORE(AP::notify().sf_window_mutex);
sf::Event event;
while (w->pollEvent(event)) {
if (event.type == sf::Event::Closed) {
w->close();
}
}
}
if (!w->isOpen()) {
break;
}
if (counter != last_counter) {
last_counter = counter;
w->display();
if (last_font != get_font_num()) {
load_font();
uint8_t buffer2[video_lines][video_cols];
{
WITH_SEMAPHORE(mutex);
memcpy(buffer2, buffer, sizeof(buffer2));
}
w->clear();
for (uint8_t y=0; y<video_lines; y++) {
for (uint8_t x=0; x<video_cols; x++) {
uint16_t px = x * (char_width+char_spacing) * char_scale;
uint16_t py = y * (char_height+char_spacing) * char_scale;
sf::Sprite s;
uint8_t c = buffer2[y][x];
s.setTexture(font[c]);
s.setPosition(sf::Vector2f(px, py));
s.scale(sf::Vector2f(char_scale,char_scale));
w->draw(s);
}
}
w->display();
if (last_font != get_font_num()) {
load_font();
}
}
}
usleep(10000);
}