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AP_Notify: use WITH_SEMAPHORE()

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and removed usage of hal.util->new_semaphore()
This commit is contained in:
Andrew Tridgell 2018-10-12 10:35:04 +11:00
parent dedfa54d5a
commit bf829cd792
3 changed files with 24 additions and 31 deletions
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45
libraries/AP_Notify/ToneAlarm.cpp
View File

@ -18,6 +18,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_Common/Semaphore.h>
#include "ToneAlarm.h"
#include "AP_Notify.h"
@ -100,8 +101,6 @@ bool AP_ToneAlarm::init()
return false;
}
_sem = hal.util->new_semaphore();
// set initial boot states. This prevents us issuing a arming
// warning in plane and rover on every boot
flags.armed = AP_Notify::flags.armed;
@ -131,21 +130,18 @@ void AP_ToneAlarm::play_tone(const uint8_t tone_index)
void AP_ToneAlarm::_timer_task()
{
if (_sem && _sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_mml_player.update();
_sem->give();
}
WITH_SEMAPHORE(_sem);
_mml_player.update();
}
void AP_ToneAlarm::play_string(const char *str)
{
if (_sem && _sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_mml_player.stop();
strncpy(_tone_buf, str, AP_NOTIFY_TONEALARM_TONE_BUF_SIZE);
_tone_buf[AP_NOTIFY_TONEALARM_TONE_BUF_SIZE-1] = 0;
_mml_player.play(_tone_buf);
_sem->give();
}
WITH_SEMAPHORE(_sem);
_mml_player.stop();
strncpy(_tone_buf, str, AP_NOTIFY_TONEALARM_TONE_BUF_SIZE);
_tone_buf[AP_NOTIFY_TONEALARM_TONE_BUF_SIZE-1] = 0;
_mml_player.play(_tone_buf);
}
void AP_ToneAlarm::stop_cont_tone()
@ -390,17 +386,16 @@ void AP_ToneAlarm::handle_play_tune(mavlink_message_t *msg)
mavlink_msg_play_tune_decode(msg, &packet);
if (_sem && _sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_mml_player.stop();
WITH_SEMAPHORE(_sem);
strncpy(_tone_buf, packet.tune, MIN(sizeof(packet.tune), sizeof(_tone_buf)-1));
_tone_buf[sizeof(_tone_buf)-1] = 0;
uint8_t len = strlen(_tone_buf);
uint8_t len2 = strnlen(packet.tune2, sizeof(packet.tune2));
len2 = MIN((sizeof(_tone_buf)-1)-len, len2);
strncpy(_tone_buf+len, packet.tune2, len2);
_tone_buf[sizeof(_tone_buf)-1] = 0;
_mml_player.play(_tone_buf);
_sem->give();
}
_mml_player.stop();
strncpy(_tone_buf, packet.tune, MIN(sizeof(packet.tune), sizeof(_tone_buf)-1));
_tone_buf[sizeof(_tone_buf)-1] = 0;
uint8_t len = strlen(_tone_buf);
uint8_t len2 = strnlen(packet.tune2, sizeof(packet.tune2));
len2 = MIN((sizeof(_tone_buf)-1)-len, len2);
strncpy(_tone_buf+len, packet.tune2, len2);
_tone_buf[sizeof(_tone_buf)-1] = 0;
_mml_player.play(_tone_buf);
}

2
libraries/AP_Notify/ToneAlarm.h
View File

@ -77,7 +77,7 @@ private:
const static Tone _tones[];
AP_HAL::Semaphore* _sem;
HAL_Semaphore _sem;
MMLPlayer _mml_player;
char _tone_buf[AP_NOTIFY_TONEALARM_TONE_BUF_SIZE];
};

8
libraries/AP_Notify/ToshibaLED_I2C.cpp
View File

@ -23,6 +23,7 @@
#include <utility>
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/Semaphore.h>
extern const AP_HAL::HAL& hal;
@ -48,16 +49,16 @@ bool ToshibaLED_I2C::hw_init(void)
{
// first look for led on external bus
_dev = std::move(hal.i2c_mgr->get_device(_bus, TOSHIBA_LED_I2C_ADDR));
if (!_dev || !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (!_dev) {
return false;
}
WITH_SEMAPHORE(_dev->get_semaphore());
_dev->set_retries(10);
// enable the led
bool ret = _dev->write_register(TOSHIBA_LED_ENABLE, 0x03);
if (!ret) {
_dev->get_semaphore()->give();
return false;
}
@ -67,9 +68,6 @@ bool ToshibaLED_I2C::hw_init(void)
_dev->set_retries(1);
// give back i2c semaphore
_dev->get_semaphore()->give();
if (ret) {
_dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&ToshibaLED_I2C::_timer, void));
}