mirror of https://github.com/ArduPilot/ardupilot
163 lines
3.3 KiB
C++
163 lines
3.3 KiB
C++
/*
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* Copyright (C) 2016 Intel Corporation. All rights reserved.
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "PollerThread.h"
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#include <algorithm>
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#include <poll.h>
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#include <sys/epoll.h>
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#include <sys/timerfd.h>
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#include <AP_Math/AP_Math.h>
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namespace Linux {
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void TimerPollable::on_can_read()
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{
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if (_removeme) {
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return;
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}
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uint64_t nevents = 0;
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int r = read(_fd, &nevents, sizeof(nevents));
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if (r < 0) {
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return;
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}
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if (_wrapper) {
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_wrapper->start_cb();
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}
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_cb();
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if (_wrapper) {
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_wrapper->end_cb();
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}
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}
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bool TimerPollable::setup_timer(uint32_t timeout_usec)
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{
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if (_fd >= 0) {
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return false;
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}
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_fd = timerfd_create(CLOCK_MONOTONIC, TFD_CLOEXEC|TFD_NONBLOCK);
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if (_fd < 0) {
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return false;
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}
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if (!adjust_timer(timeout_usec)) {
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::close(_fd);
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_fd = -1;
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return false;
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}
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return true;
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}
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bool TimerPollable::adjust_timer(uint32_t timeout_usec)
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{
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if (_fd < 0) {
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return false;
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}
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struct itimerspec spec = { };
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spec.it_interval.tv_nsec = timeout_usec * NSEC_PER_USEC;
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spec.it_value.tv_nsec = timeout_usec * NSEC_PER_USEC;
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if (timerfd_settime(_fd, 0, &spec, nullptr) < 0) {
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return false;
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}
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return true;
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}
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TimerPollable *PollerThread::add_timer(TimerPollable::PeriodicCb cb,
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TimerPollable::WrapperCb *wrapper,
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uint32_t timeout_usec)
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{
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if (!_poller) {
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return nullptr;
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}
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TimerPollable *p = new TimerPollable(cb, wrapper);
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if (!p || !p->setup_timer(timeout_usec) ||
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!_poller.register_pollable(p, POLLIN)) {
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delete p;
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return nullptr;
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}
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_timers.push_back(p);
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return p;
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}
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bool PollerThread::adjust_timer(TimerPollable *p, uint32_t timeout_usec)
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{
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/* Make sure the handle points to a valid timer */
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auto it = std::find(_timers.begin(), _timers.end(), p);
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if (it == _timers.end()) {
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return false;
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}
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return (*it)->adjust_timer(timeout_usec);
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}
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void PollerThread::_cleanup_timers()
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{
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if (!_poller) {
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return;
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}
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for (auto it = _timers.begin(); it != _timers.end(); it++) {
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TimerPollable *p = *it;
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if (p->_removeme) {
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_timers.erase(it);
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_poller.unregister_pollable(p);
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delete p;
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}
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}
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}
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void PollerThread::mainloop()
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{
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if (!_poller) {
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return;
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}
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while (!_should_exit) {
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_poller.poll();
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_cleanup_timers();
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}
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_started = false;
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_should_exit = false;
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}
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bool PollerThread::stop()
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{
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if (!is_started()) {
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return false;
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}
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_should_exit = true;
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_poller.wakeup();
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return true;
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}
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}
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