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SITL: removed flightaxis threading

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This commit is contained in:
Andrew Tridgell 2020-12-17 13:19:19 +11:00
parent b4201436dd
commit 8d6d5c6b49
2 changed files with 2 additions and 48 deletions
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46
libraries/SITL/SIM_FlightAxis.cpp
View File

@ -28,7 +28,6 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
#include "pthread.h"
extern const AP_HAL::HAL& hal;
@ -106,47 +105,8 @@ FlightAxis::FlightAxis(const char *frame_str) :
}
}
}
int ret = pthread_create(&thread, NULL, update_thread, this);
if (ret != 0) {
AP_HAL::panic("SIM_FlightAxis: failed to create thread");
}
}
/*
update thread trampoline
*/
void *FlightAxis::update_thread(void *arg)
{
FlightAxis *flightaxis = (FlightAxis *)arg;
#if defined(__CYGWIN__) || defined(__CYGWIN64__)
//Cygwin doesn't support pthread_setname_np
#elif defined(__APPLE__) && defined(__MACH__)
pthread_setname_np("ardupilot-flightaxis");
#else
pthread_setname_np(pthread_self(), "ardupilot-flightaxis");
#endif
flightaxis->update_loop();
return nullptr;
}
/*
main update loop
*/
void FlightAxis::update_loop(void)
{
while (true) {
struct sitl_input new_input;
{
WITH_SEMAPHORE(mutex);
new_input = last_input;
}
exchange_data(new_input);
}
}
/*
extremely primitive SOAP parser that assumes the format used by FlightAxis
*/
@ -349,7 +309,6 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
scaled_servos[11]);
if (reply) {
WITH_SEMAPHORE(mutex);
double lastt_s = state.m_currentPhysicsTime_SEC;
parse_reply(reply);
double dt = state.m_currentPhysicsTime_SEC - lastt_s;
@ -370,10 +329,9 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
*/
void FlightAxis::update(const struct sitl_input &input)
{
WITH_SEMAPHORE(mutex);
last_input = input;
exchange_data(input);
double dt_seconds = state.m_currentPhysicsTime_SEC - last_time_s;
if (dt_seconds < 0) {
// cope with restarting RealFlight while connected

4
libraries/SITL/SIM_FlightAxis.h
View File

@ -160,7 +160,6 @@ private:
void exchange_data(const struct sitl_input &input);
void parse_reply(const char *reply);
static void *update_thread(void *arg);
void update_loop(void);
void report_FPS(void);
@ -183,9 +182,6 @@ private:
const char *controller_ip = "127.0.0.1";
uint16_t controller_port = 18083;
pthread_t thread;
HAL_Semaphore mutex;
};