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HAL_Linux: removed restriction on delay in threads

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threads other than the main thread should be able to sleep, but not
call the delay callback
This commit is contained in:
Andrew Tridgell 2018-07-07 11:51:19 +10:00
parent a489c93001
commit 492978c0fa
1 changed files with 1 additions and 6 deletions
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7
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -148,17 +148,12 @@ void Scheduler::delay(uint16_t ms)
return;
}
if (!in_main_thread()) {
fprintf(stderr, "Scheduler::delay() called outside main thread\n");
return;
}
uint64_t start = AP_HAL::millis64();
while ((AP_HAL::millis64() - start) < ms) {
// this yields the CPU to other apps
microsleep(1000);
if (_min_delay_cb_ms <= ms) {
if (in_main_thread() && _min_delay_cb_ms <= ms) {
call_delay_cb();
}
}