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);
LinuxScheduler::init() was not really working as it should. This was the
result of "ps -Leo class,rtprio,wchan,comm | grep ArduCopter":
FF 12 futex_ ArduCopter.elf
FF 12 usleep ArduCopter.elf
FF 12 hrtime ArduCopter.elf
FF 12 poll_s ArduCopter.elf
FF 12 hrtime ArduCopter.elf
FF 12 hrtime ArduCopter.elf
As can be seen all the threads run with the same priority, the one of the main
thread. There were basically 2 mistakes:
1) pthread_attr_setschedpolicy() needs to be called before
pthread_attr_setschedparam(). Otherwise the latter will just return
an error and not set the priority
2) pthread_create() defaults to ignore the priority and inherit the
it from the parent thread. pthread_attr_setinheritsched() needs to
be called to change the behavior to PTHREAD_EXPLICIT_SCHED. See
pthread_attr_setinheritsched(3) for an example program to test the
behaviors.
Also, it's undefined behavior to call pthread_attr_init() several times on the
same pthread_attr_t. Although we could reutilize the same attribute without
calling pthread_attr_init() again, lets refactor the code a little bit, so all
the pthread calls are in a single place. Then also call pthread_attr_destroy()
when we are done.
In Linux the default stack size is always greater than 32k, either 2MB
or 8MB depending on the architecture. There's no point in creating a
function to lock 32k.
ToneAlarm is now declared as a separate class instance of which is added as a private member of LinuxUtil
Some minor fixes in this patch include changing return type of tonealarm_init() to bool and use dprintf
exit from the autpilot when reboot is commanded.
The software assumes that the code is being
launched in an infinite loop thereby an exit
will make it reboot.
Lucas De Marchi
Staroselskii Georgii
Andrew Tridgell
Andrew Tridgell
bugobliterator
Víctor Mayoral Vilches
bugobliterator
Silvia