ardupilot/libraries/AP_HAL_Linux/PollerThread.cpp

163 lines
3.3 KiB
C++

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