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AP_HAL_PX4: Scheduler: replace use of in_timerprocess()

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This function actually checks if we are not in the main thread rather
than if we are in the timer thread.

Add a new function that does what it's supposed to do.
This commit is contained in:
Lucas De Marchi 2017-08-02 01:39:30 -07:00
parent 93a558ce5c
commit 9e66938f68
2 changed files with 7 additions and 1 deletions
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7
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -173,7 +173,7 @@ void PX4Scheduler::delay_microseconds_boost(uint16_t usec)
void PX4Scheduler::delay(uint16_t ms) void PX4Scheduler::delay(uint16_t ms)
{ {
if (in_timerprocess()) { if (!in_main_thread()) {
::printf("ERROR: delay() from timer process\n"); ::printf("ERROR: delay() from timer process\n");
return; return;
} }
@ -448,6 +448,11 @@ bool PX4Scheduler::in_timerprocess()
return getpid() != _main_task_pid; return getpid() != _main_task_pid;
} }
bool PX4Scheduler::in_main_thread()
{
return getpid() == _main_task_pid;
}
void PX4Scheduler::system_initialized() void PX4Scheduler::system_initialized()
{ {
if (_initialized) { if (_initialized) {

1
libraries/AP_HAL_PX4/Scheduler.h
View File

@ -59,6 +59,7 @@ public:
void reboot(bool hold_in_bootloader); void reboot(bool hold_in_bootloader);
bool in_timerprocess(); bool in_timerprocess();
bool in_main_thread();
void system_initialized(); void system_initialized();
void hal_initialized() { _hal_initialized = true; } void hal_initialized() { _hal_initialized = true; }