mirror of https://github.com/ArduPilot/ardupilot
AP_Networking: separate thread for sendfile
This commit is contained in:
parent
8e132e44cf
commit
94ea22d16f
|
@ -14,14 +14,14 @@ extern const AP_HAL::HAL& hal;
|
||||||
|
|
||||||
#if AP_NETWORKING_BACKEND_CHIBIOS
|
#if AP_NETWORKING_BACKEND_CHIBIOS
|
||||||
#include "AP_Networking_ChibiOS.h"
|
#include "AP_Networking_ChibiOS.h"
|
||||||
#include "AP_Networking_SLIP.h"
|
|
||||||
#include "AP_Networking_PPP.h"
|
|
||||||
#include <hal_mii.h>
|
#include <hal_mii.h>
|
||||||
#include <lwip/sockets.h>
|
|
||||||
#else
|
|
||||||
#include <arpa/inet.h>
|
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
#include <lwipopts.h>
|
||||||
|
#include <errno.h>
|
||||||
|
#include <lwip/sockets.h>
|
||||||
|
|
||||||
|
|
||||||
#include <AP_HAL/utility/Socket.h>
|
#include <AP_HAL/utility/Socket.h>
|
||||||
|
|
||||||
#if AP_NETWORKING_BACKEND_SLIP
|
#if AP_NETWORKING_BACKEND_SLIP
|
||||||
|
@ -179,9 +179,6 @@ void AP_Networking::init()
|
||||||
|
|
||||||
// init network mapped serialmanager ports
|
// init network mapped serialmanager ports
|
||||||
ports_init();
|
ports_init();
|
||||||
|
|
||||||
// register sendfile handler
|
|
||||||
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Networking::sendfile_check, void));
|
|
||||||
}
|
}
|
||||||
|
|
||||||
/*
|
/*
|
||||||
|
@ -239,7 +236,7 @@ uint8_t AP_Networking::convert_netmask_ip_to_bitcount(const uint32_t netmask_ip)
|
||||||
uint32_t AP_Networking::convert_str_to_ip(const char* ip_str)
|
uint32_t AP_Networking::convert_str_to_ip(const char* ip_str)
|
||||||
{
|
{
|
||||||
uint32_t ip = 0;
|
uint32_t ip = 0;
|
||||||
inet_pton(AF_INET, ip_str, &ip);
|
lwip_inet_pton(AF_INET, ip_str, &ip);
|
||||||
return ntohl(ip);
|
return ntohl(ip);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -247,7 +244,7 @@ const char* AP_Networking::convert_ip_to_str(uint32_t ip)
|
||||||
{
|
{
|
||||||
ip = htonl(ip);
|
ip = htonl(ip);
|
||||||
static char _str_buffer[20];
|
static char _str_buffer[20];
|
||||||
inet_ntop(AF_INET, &ip, _str_buffer, sizeof(_str_buffer));
|
lwip_inet_ntop(AF_INET, &ip, _str_buffer, sizeof(_str_buffer));
|
||||||
return _str_buffer;
|
return _str_buffer;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -326,6 +323,14 @@ bool AP_Networking::sendfile(SocketAPM *sock, int fd)
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
if (!sendfile_thread_started) {
|
||||||
|
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::sendfile_check, void),
|
||||||
|
"sendfile",
|
||||||
|
2048, AP_HAL::Scheduler::PRIORITY_UART, 0)) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
sendfile_thread_started = true;
|
||||||
|
}
|
||||||
for (auto &s : sendfiles) {
|
for (auto &s : sendfiles) {
|
||||||
if (s.sock == nullptr) {
|
if (s.sock == nullptr) {
|
||||||
s.sock = sock->duplicate();
|
s.sock = sock->duplicate();
|
||||||
|
@ -352,9 +357,8 @@ void AP_Networking::SendFile::close(void)
|
||||||
*/
|
*/
|
||||||
void AP_Networking::sendfile_check(void)
|
void AP_Networking::sendfile_check(void)
|
||||||
{
|
{
|
||||||
if (sendfile_buf == nullptr) {
|
while (true) {
|
||||||
return;
|
hal.scheduler->delay(1);
|
||||||
}
|
|
||||||
WITH_SEMAPHORE(sem);
|
WITH_SEMAPHORE(sem);
|
||||||
bool none_active = true;
|
bool none_active = true;
|
||||||
for (auto &s : sendfiles) {
|
for (auto &s : sendfiles) {
|
||||||
|
@ -384,6 +388,7 @@ void AP_Networking::sendfile_check(void)
|
||||||
sendfile_buf = nullptr;
|
sendfile_buf = nullptr;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
AP_Networking *AP_Networking::singleton;
|
AP_Networking *AP_Networking::singleton;
|
||||||
|
|
||||||
|
@ -400,19 +405,18 @@ AP_Networking &network()
|
||||||
*/
|
*/
|
||||||
int ap_networking_printf(const char *fmt, ...)
|
int ap_networking_printf(const char *fmt, ...)
|
||||||
{
|
{
|
||||||
#if AP_NETWORKING_LWIP_DEBUG_PORT >= 0
|
WITH_SEMAPHORE(AP::network().get_semaphore());
|
||||||
static AP_HAL::UARTDriver *uart;
|
#ifdef AP_NETWORKING_LWIP_DEBUG_FILE
|
||||||
if (uart == nullptr) {
|
static int fd = -1;
|
||||||
uart = hal.serial(AP_NETWORKING_LWIP_DEBUG_PORT);
|
if (fd == -1) {
|
||||||
if (uart == nullptr) {
|
fd = AP::FS().open(AP_NETWORKING_LWIP_DEBUG_FILE, O_WRONLY|O_CREAT|O_TRUNC, 0644);
|
||||||
|
if (fd == -1) {
|
||||||
return -1;
|
return -1;
|
||||||
}
|
}
|
||||||
uart->begin(AP_NETWORKING_LWIP_DEBUG_BAUD, 1000, 50000);
|
|
||||||
}
|
}
|
||||||
uart->begin(0);
|
|
||||||
va_list ap;
|
va_list ap;
|
||||||
va_start(ap, fmt);
|
va_start(ap, fmt);
|
||||||
uart->vprintf(fmt, ap);
|
vdprintf(fd, fmt, ap);
|
||||||
va_end(ap);
|
va_end(ap);
|
||||||
#else
|
#else
|
||||||
va_list ap;
|
va_list ap;
|
||||||
|
@ -423,4 +427,11 @@ int ap_networking_printf(const char *fmt, ...)
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#ifdef LWIP_PLATFORM_ASSERT
|
||||||
|
void ap_networking_platform_assert(const char *msg, int line, const char *file)
|
||||||
|
{
|
||||||
|
AP_HAL::panic("LWIP: %s: %s:%u", msg, file, line);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
#endif // AP_NETWORKING_ENABLED
|
#endif // AP_NETWORKING_ENABLED
|
||||||
|
|
|
@ -45,6 +45,11 @@ public:
|
||||||
return singleton;
|
return singleton;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
HAL_Semaphore &get_semaphore(void)
|
||||||
|
{
|
||||||
|
return sem;
|
||||||
|
}
|
||||||
|
|
||||||
// Networking interface is enabled and initialized
|
// Networking interface is enabled and initialized
|
||||||
bool is_healthy() const
|
bool is_healthy() const
|
||||||
{
|
{
|
||||||
|
@ -325,6 +330,7 @@ private:
|
||||||
|
|
||||||
uint8_t *sendfile_buf;
|
uint8_t *sendfile_buf;
|
||||||
void sendfile_check(void);
|
void sendfile_check(void);
|
||||||
|
bool sendfile_thread_started;
|
||||||
|
|
||||||
void ports_init(void);
|
void ports_init(void);
|
||||||
};
|
};
|
||||||
|
|
Loading…
Reference in New Issue