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

AP_HAL_PX4: fix passing callback to member function 

This is the same approach as done for AP_HAL_Linux in e3d78b8 ("AP_HAL_Linux:
fix passing callback to member function"). It fixes the following warnings:

ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp: In member function 'virtual void PX4::PX4Scheduler::init(void*)':
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:55:95: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
  pthread_create(&_timer_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_timer_thread, this);
                                                                                               ^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:65:94: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
  pthread_create(&_uart_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_uart_thread, this);
                                                                                              ^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:75:92: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
  pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_io_thread, this);
                                                                                            ^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:85:100: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
     pthread_create(&_storage_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_storage_thread, this);

ardupilot/libraries/AP_HAL_PX4/NSHShellStream.cpp: In member function 'void PX4::NSHShellStream::start_shell()':
ardupilot/libraries/AP_HAL_PX4/NSHShellStream.cpp:83:99: warning: converting from 'void (PX4::NSHShellStream::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
     pthread_create(&shell_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::NSHShellStream::shell_thread, this);
                                                                                                   ^
This commit is contained in:
Lucas De Marchi 2015-11-25 15:30:34 -02:00 committed by Andrew Tridgell
parent 036eb21c09
commit 6d7678d2a3
4 changed files with 47 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
libraries/AP_HAL_PX4/NSHShellStream.cpp
View File

@ -22,21 +22,22 @@ extern const AP_HAL::HAL& hal;
#include "Util.h"
using namespace PX4;
void NSHShellStream::shell_thread(void)
void NSHShellStream::shell_thread(void *arg)
{
NSHShellStream *nsh = (NSHShellStream *)arg;
close(0);
close(1);
close(2);
dup2(child.in, 0);
dup2(child.out, 1);
dup2(child.out, 2);
dup2(nsh->child.in, 0);
dup2(nsh->child.out, 1);
dup2(nsh->child.out, 2);
nsh_consolemain(0, NULL);
shell_stdin = -1;
shell_stdout = -1;
child.in = -1;
child.out = -1;
nsh->shell_stdin = -1;
nsh->shell_stdout = -1;
nsh->child.in = -1;
nsh->child.out = -1;
}
void NSHShellStream::start_shell(void)

52
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -52,7 +52,7 @@ void PX4Scheduler::init()
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
pthread_create(&_timer_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_timer_thread, this);
pthread_create(&_timer_thread_ctx, &thread_attr, &PX4Scheduler::_timer_thread, this);
// the UART thread runs at a medium priority
pthread_attr_init(&thread_attr);
@ -62,7 +62,7 @@ void PX4Scheduler::init()
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
pthread_create(&_uart_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_uart_thread, this);
pthread_create(&_uart_thread_ctx, &thread_attr, &PX4Scheduler::_uart_thread, this);
// the IO thread runs at lower priority
pthread_attr_init(&thread_attr);
@ -72,7 +72,7 @@ void PX4Scheduler::init()
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_io_thread, this);
pthread_create(&_io_thread_ctx, &thread_attr, &PX4Scheduler::_io_thread, this);
// the storage thread runs at just above IO priority
pthread_attr_init(&thread_attr);
@ -82,7 +82,7 @@ void PX4Scheduler::init()
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
pthread_create(&_storage_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_storage_thread, this);
pthread_create(&_storage_thread_ctx, &thread_attr, &PX4Scheduler::_storage_thread, this);
}
/**
@ -256,19 +256,21 @@ void PX4Scheduler::_run_timers(bool called_from_timer_thread)
extern bool px4_ran_overtime;
void *PX4Scheduler::_timer_thread(void)
void *PX4Scheduler::_timer_thread(void *arg)
{
PX4Scheduler *sched = (PX4Scheduler *)arg;
uint32_t last_ran_overtime = 0;
while (!_hal_initialized) {
while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
}
while (!_px4_thread_should_exit) {
delay_microseconds_semaphore(1000);
sched->delay_microseconds_semaphore(1000);
// run registered timers
perf_begin(_perf_timers);
_run_timers(true);
perf_end(_perf_timers);
perf_begin(sched->_perf_timers);
sched->_run_timers(true);
perf_end(sched->_perf_timers);
// process any pending RC output requests
((PX4RCOutput *)hal.rcout)->_timer_tick();
@ -304,13 +306,15 @@ void PX4Scheduler::_run_io(void)
_in_io_proc = false;
}
void *PX4Scheduler::_uart_thread(void)
void *PX4Scheduler::_uart_thread(void *arg)
{
while (!_hal_initialized) {
PX4Scheduler *sched = (PX4Scheduler *)arg;
while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
}
while (!_px4_thread_should_exit) {
delay_microseconds_semaphore(1000);
sched->delay_microseconds_semaphore(1000);
// process any pending serial bytes
((PX4UARTDriver *)hal.uartA)->_timer_tick();
@ -322,34 +326,38 @@ void *PX4Scheduler::_uart_thread(void)
return NULL;
}
void *PX4Scheduler::_io_thread(void)
void *PX4Scheduler::_io_thread(void *arg)
{
while (!_hal_initialized) {
PX4Scheduler *sched = (PX4Scheduler *)arg;
while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
}
while (!_px4_thread_should_exit) {
poll(NULL, 0, 1);
// run registered IO processes
perf_begin(_perf_io_timers);
_run_io();
perf_end(_perf_io_timers);
perf_begin(sched->_perf_io_timers);
sched->_run_io();
perf_end(sched->_perf_io_timers);
}
return NULL;
}
void *PX4Scheduler::_storage_thread(void)
void *PX4Scheduler::_storage_thread(void *arg)
{
while (!_hal_initialized) {
PX4Scheduler *sched = (PX4Scheduler *)arg;
while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
}
while (!_px4_thread_should_exit) {
poll(NULL, 0, 10);
// process any pending storage writes
perf_begin(_perf_storage_timer);
perf_begin(sched->_perf_storage_timer);
((PX4Storage *)hal.storage)->_timer_tick();
perf_end(_perf_storage_timer);
perf_end(sched->_perf_storage_timer);
}
return NULL;
}

8
libraries/AP_HAL_PX4/Scheduler.h
View File

@ -88,10 +88,10 @@ private:
pthread_t _storage_thread_ctx;
pthread_t _uart_thread_ctx;
void *_timer_thread(void);
void *_io_thread(void);
void *_storage_thread(void);
void *_uart_thread(void);
static void *_timer_thread(void *arg);
static void *_io_thread(void *arg);
static void *_storage_thread(void *arg);
static void *_uart_thread(void *arg);
void _run_timers(bool called_from_timer_thread);
void _run_io(void);

2
libraries/AP_HAL_PX4/Util.h
View File

@ -25,7 +25,7 @@ private:
bool showed_armed_warning = false;
void start_shell(void);
void shell_thread(void);
static void shell_thread(void *arg);
};
class PX4::PX4Util : public AP_HAL::Util {