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AP_HAL_Linux: use Thread abstraction to create thread

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The open coded version has the same problem fixed by Thread abstraction:
the order of the calls matters and it's easy to call in the wrong order.
Here pthread_attr_setschedparam() and pthread_attr_setschedpolicy()
should be swapped, like in 62c2f737d5 (AP_HAL_Linux: fix setting RT priorities.)
This commit is contained in:
Lucas De Marchi 2018-07-10 14:48:39 -07:00 committed by Andrew Tridgell
parent e11d268818
commit d2446e1219
2 changed files with 11 additions and 28 deletions
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37
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -354,28 +354,15 @@ void Scheduler::teardown()
_tonealarm_thread.join();
}
/*
trampoline for thread create
*/
void *Scheduler::thread_create_trampoline(void *ctx)
{
AP_HAL::MemberProc *t = (AP_HAL::MemberProc *)ctx;
(*t)();
free(t);
return nullptr;
}
/*
create a new thread
*/
bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
{
// take a copy of the MemberProc, it is freed after thread exits
AP_HAL::MemberProc *tproc = (AP_HAL::MemberProc *)malloc(sizeof(proc));
if (!tproc) {
Thread *thread = new Thread{(Thread::task_t)proc};
if (!thread) {
return false;
}
*tproc = proc;
uint8_t thread_priority = APM_LINUX_IO_PRIORITY;
static const struct {
@ -399,21 +386,19 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
break;
}
}
pthread_t thread;
pthread_attr_t thread_attr;
struct sched_param param;
pthread_attr_init(&thread_attr);
pthread_attr_setstacksize(&thread_attr, stack_size);
thread->set_stack_size(stack_size);
param.sched_priority = thread_priority;
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
/*
* We should probably store the thread handlers and join() when exiting,
* but let's the thread manage itself for now.
*/
thread->set_auto_free(true);
if (pthread_create(&thread, &thread_attr, thread_create_trampoline, tproc) != 0) {
free(tproc);
if (!thread->start(name, SCHED_FIFO, thread_priority)) {
delete thread;
return false;
}
pthread_setname_np(thread, name);
return true;
}

2
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -102,8 +102,6 @@ private:
pthread_t _main_ctx;
Semaphore _io_semaphore;
static void *thread_create_trampoline(void *ctx);
};
}