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AP_DroneCAN: add support for semaphore around allocate/free blocks in libcanard

This commit is contained in:
bugobliterator 2023-06-07 21:04:44 +10:00 committed by Andrew Tridgell
parent 8ac9480e3d
commit 5a967fd597
1 changed files with 22 additions and 0 deletions
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22
libraries/AP_DroneCAN/AP_Canard_iface.cpp
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@ -8,6 +8,7 @@
#include <dronecan_msgs.h>
extern const AP_HAL::HAL& hal;
#define LOG_TAG "DroneCANIface"
#include <canard.h>
#define DEBUG_PKTS 0
@ -26,6 +27,27 @@ uint8_t test_node_mem_area[1024];
HAL_Semaphore test_iface_sem;
#endif
void canard_allocate_sem_take(CanardPoolAllocator *allocator) {
if (allocator->semaphore == nullptr) {
allocator->semaphore = new HAL_Semaphore;
if (allocator->semaphore == nullptr) {
// out of memory
CANARD_ASSERT(0);
return;
}
}
((HAL_Semaphore*)allocator->semaphore)->take_blocking();
}
void canard_allocate_sem_give(CanardPoolAllocator *allocator) {
if (allocator->semaphore == nullptr) {
// it should have been allocated by canard_allocate_sem_take
CANARD_ASSERT(0);
return;
}
((HAL_Semaphore*)allocator->semaphore)->give();
}
CanardInterface::CanardInterface(uint8_t iface_index) :
Interface(iface_index) {
#if AP_TEST_DRONECAN_DRIVERS