Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Mission: make all semaphores recursive 

the cost is very similar and this prevents an easy coding error which
can occur on less used code paths
This commit is contained in:
Andrew Tridgell 2020-01-19 08:57:26 +11:00
parent 71a0645a59
commit 5ae6ad2a59
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Mission/AP_Mission.cpp
View File

@ -39,7 +39,7 @@ extern const AP_HAL::HAL& hal;
// storage object
StorageAccess AP_Mission::_storage(StorageManager::StorageMission);
HAL_Semaphore_Recursive AP_Mission::_rsem;
HAL_Semaphore AP_Mission::_rsem;
///
/// public mission methods

4
libraries/AP_Mission/AP_Mission.h
View File

@ -473,7 +473,7 @@ public:
// get a reference to the AP_Mission semaphore, allowing an external caller to lock the
// storage while working with multiple waypoints
HAL_Semaphore_Recursive &get_semaphore(void) {
HAL_Semaphore &get_semaphore(void) {
return _rsem;
}
@ -579,7 +579,7 @@ private:
// multi-thread support. This is static so it can be used from
// const functions
static HAL_Semaphore_Recursive _rsem;
static HAL_Semaphore _rsem;
// mission items common to all vehicles:
bool start_command_do_gripper(const AP_Mission::Mission_Command& cmd);