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AP_HAL_Linux: fix passing callback to member function 

It's undefined behavior to pass the callback to pthread to a class
member like we were doing. Refactor the code so the callbacks are static
members.

This fixes the following warnings:

libraries/AP_HAL_Linux/Scheduler.cpp: In member function 'virtual void Linux::LinuxScheduler::init(void*)':
/home/lucas/p/dronecode/ardupilot/libraries/AP_HAL_Linux/Scheduler.cpp:61:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_timer_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:65:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_uart_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:69:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_rcin_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:73:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_tonealarm_thread);
                                                                            ^
libraries/AP_HAL_Linux/Scheduler.cpp:77:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
                            (pthread_startroutine_t)&Linux::LinuxScheduler::_io_thread);
This commit is contained in:
Lucas De Marchi 2015-03-18 17:23:37 -03:00 committed by Andrew Tridgell
parent 62c2f737d5
commit e3d78b8960
2 changed files with 50 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

75
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -59,23 +59,23 @@ void LinuxScheduler::init(void* machtnichts)
sched_setscheduler(0, SCHED_FIFO, &param);
_create_realtime_thread(&_timer_thread_ctx, APM_LINUX_TIMER_PRIORITY,
(pthread_startroutine_t)&Linux::LinuxScheduler::_timer_thread);
&Linux::LinuxScheduler::_timer_thread);
// the UART thread runs at a medium priority
_create_realtime_thread(&_uart_thread_ctx, APM_LINUX_UART_PRIORITY,
(pthread_startroutine_t)&Linux::LinuxScheduler::_uart_thread);
&Linux::LinuxScheduler::_uart_thread);
// the RCIN thread runs at a lower medium priority
_create_realtime_thread(&_rcin_thread_ctx, APM_LINUX_RCIN_PRIORITY,
(pthread_startroutine_t)&Linux::LinuxScheduler::_rcin_thread);
&Linux::LinuxScheduler::_rcin_thread);
// the Tone Alarm thread runs at highest priority
_create_realtime_thread(&_tonealarm_thread_ctx, APM_LINUX_TONEALARM_PRIORITY,
(pthread_startroutine_t)&Linux::LinuxScheduler::_tonealarm_thread);
&Linux::LinuxScheduler::_tonealarm_thread);
// the IO thread runs at lower priority
_create_realtime_thread(&_io_thread_ctx, APM_LINUX_IO_PRIORITY,
(pthread_startroutine_t)&Linux::LinuxScheduler::_io_thread);
&Linux::LinuxScheduler::_io_thread);
}
void LinuxScheduler::_microsleep(uint32_t usec)
@ -230,28 +230,31 @@ void LinuxScheduler::_run_timers(bool called_from_timer_thread)
_in_timer_proc = false;
}
void *LinuxScheduler::_timer_thread(void)
void *LinuxScheduler::_timer_thread(void* arg)
{
LinuxScheduler* sched = (LinuxScheduler *)arg;
mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) {
poll(NULL, 0, 1);
while (sched->system_initializing()) {
poll(NULL, 0, 1);
}
/*
this aims to run at an average of 1kHz, so that it can be used
to drive 1kHz processes without drift
*/
uint64_t next_run_usec = micros64() + 1000;
uint64_t next_run_usec = sched->micros64() + 1000;
while (true) {
uint64_t dt = next_run_usec - micros64();
uint64_t dt = next_run_usec - sched->micros64();
if (dt > 2000) {
// we've lost sync - restart
next_run_usec = micros64();
next_run_usec = sched->micros64();
} else {
_microsleep(dt);
sched->_microsleep(dt);
}
next_run_usec += 1000;
// run registered timers
_run_timers(true);
sched->_run_timers(true);
}
return NULL;
}
@ -272,28 +275,34 @@ void LinuxScheduler::_run_io(void)
_io_semaphore.give();
}
void *LinuxScheduler::_rcin_thread(void)
void *LinuxScheduler::_rcin_thread(void *arg)
{
LinuxScheduler* sched = (LinuxScheduler *)arg;
mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) {
poll(NULL, 0, 1);
while (sched->system_initializing()) {
poll(NULL, 0, 1);
}
while (true) {
_microsleep(10000);
sched->_microsleep(10000);
((LinuxRCInput *)hal.rcin)->_timer_tick();
}
return NULL;
}
void *LinuxScheduler::_uart_thread(void)
void *LinuxScheduler::_uart_thread(void* arg)
{
LinuxScheduler* sched = (LinuxScheduler *)arg;
mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) {
poll(NULL, 0, 1);
while (sched->system_initializing()) {
poll(NULL, 0, 1);
}
while (true) {
_microsleep(10000);
sched->_microsleep(10000);
// process any pending serial bytes
((LinuxUARTDriver *)hal.uartA)->_timer_tick();
@ -303,14 +312,17 @@ void *LinuxScheduler::_uart_thread(void)
return NULL;
}
void *LinuxScheduler::_tonealarm_thread(void)
void *LinuxScheduler::_tonealarm_thread(void* arg)
{
LinuxScheduler* sched = (LinuxScheduler *)arg;
mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) {
poll(NULL, 0, 1);
while (sched->system_initializing()) {
poll(NULL, 0, 1);
}
while (true) {
_microsleep(10000);
sched->_microsleep(10000);
// process tone command
((LinuxUtil *)hal.util)->_toneAlarm_timer_tick();
@ -318,20 +330,23 @@ void *LinuxScheduler::_tonealarm_thread(void)
return NULL;
}
void *LinuxScheduler::_io_thread(void)
void *LinuxScheduler::_io_thread(void* arg)
{
LinuxScheduler* sched = (LinuxScheduler *)arg;
mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) {
poll(NULL, 0, 1);
while (sched->system_initializing()) {
poll(NULL, 0, 1);
}
while (true) {
_microsleep(20000);
sched->_microsleep(20000);
// process any pending storage writes
((LinuxStorage *)hal.storage)->_timer_tick();
// run registered IO processes
_run_io();
sched->_run_io();
}
return NULL;
}

10
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -77,11 +77,11 @@ private:
pthread_t _uart_thread_ctx;
pthread_t _tonealarm_thread_ctx;
void *_timer_thread(void);
void *_io_thread(void);
void *_rcin_thread(void);
void *_uart_thread(void);
void *_tonealarm_thread(void);
static void *_timer_thread(void* arg);
static void *_io_thread(void* arg);
static void *_rcin_thread(void* arg);
static void *_uart_thread(void* arg);
static void *_tonealarm_thread(void* arg);
void _run_timers(bool called_from_timer_thread);
void _run_io(void);