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HAL_SITL: resync for 4.0 update

This commit is contained in:
Andrew Tridgell 2020-05-11 15:55:43 +10:00
parent e6c8b61b38
commit 7de195e3f6
5 changed files with 17 additions and 19 deletions
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1
libraries/AP_HAL_SITL/AP_HAL_SITL_Namespace.h
View File

@ -12,7 +12,6 @@ class ADCSource;
class RCInput;
class Util;
class Semaphore;
class Semaphore_Recursive;
class GPIO;
class DigitalSource;
class HALSITLCAN;

6
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
View File

@ -162,9 +162,10 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
analogin->init();
if (getenv("SITL_WATCHDOG_RESET")) {
AP::internalerror().error(AP_InternalError::error_t::watchdog_reset);
INTERNAL_ERROR(AP_InternalError::error_t::watchdog_reset);
if (watchdog_load((uint32_t *)&utilInstance.persistent_data, (sizeof(utilInstance.persistent_data)+3)/4)) {
uartA->printf("Loaded watchdog data");
utilInstance.last_persistent_data = utilInstance.persistent_data;
}
}
@ -185,11 +186,12 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
if (getenv("SITL_WATCHDOG_RESET")) {
const AP_HAL::Util::PersistentData &pd = util->persistent_data;
AP::logger().WriteCritical("WDOG", "TimeUS,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine", "QbIIHHH",
AP::logger().WriteCritical("WDOG", "TimeUS,Task,IErr,IErrCnt,IErrLn,MavMsg,MavCmd,SemLine", "QbIHHHHH",
AP_HAL::micros64(),
pd.scheduler_task,
pd.internal_errors,
pd.internal_error_count,
pd.internal_error_last_line,
pd.last_mavlink_msgid,
pd.last_mavlink_cmd,
pd.semaphore_line);

15
libraries/AP_HAL_SITL/Scheduler.cpp
View File

@ -17,6 +17,13 @@ using namespace HALSITL;
extern const AP_HAL::HAL& hal;
#ifndef SITL_STACK_CHECKING_ENABLED
//#define SITL_STACK_CHECKING_ENABLED !defined(__CYGWIN__) && !defined(__CYGWIN64__)
// stack checking is disabled until the memory corruption issues are
// fixed with pthread_attr_setstack. These may be due to
// changes in the way guard pages are handled.
#define SITL_STACK_CHECKING_ENABLED 0
#endif
AP_HAL::Proc Scheduler::_failsafe = nullptr;
@ -233,7 +240,9 @@ void Scheduler::_run_io_procs()
hal.uartH->_timer_tick();
hal.storage->_timer_tick();
#if SITL_STACK_CHECKING_ENABLED
check_thread_stacks();
#endif
AP::RC().update();
}
@ -315,8 +324,10 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
a->f[0] = proc;
a->name = name;
pthread_attr_init(&a->attr);
#if !defined(__CYGWIN__) && !defined(__CYGWIN64__)
if (pthread_attr_init(&a->attr) != 0) {
goto failed;
}
#if SITL_STACK_CHECKING_ENABLED
if (pthread_attr_setstack(&a->attr, a->stack, alloc_stack) != 0) {
AP_HAL::panic("Failed to set stack of size %u for thread %s", alloc_stack, name);
}

6
libraries/AP_HAL_SITL/Semaphores.cpp
View File

@ -11,12 +11,6 @@ using namespace HALSITL;
// construct a semaphore
Semaphore::Semaphore()
{
pthread_mutex_init(&_lock, nullptr);
}
// construct a recursive semaphore (allows a thread to take it more than once)
Semaphore_Recursive::Semaphore_Recursive()
{
pthread_mutexattr_t attr;
pthread_mutexattr_init(&attr);

8
libraries/AP_HAL_SITL/Semaphores.h
View File

@ -16,11 +16,3 @@ public:
protected:
pthread_mutex_t _lock;
};
class HALSITL::Semaphore_Recursive : public HALSITL::Semaphore {
public:
Semaphore_Recursive();
};