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posix: HRT hrt_lock() sem_wait try again if error returned

This commit is contained in:
Daniel Agar 2022-04-09 18:45:49 -04:00
parent 10f927ae2b
commit 1d66f2cf83
4 changed files with 6 additions and 5 deletions
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2
platforms/common/work_queue/hrt_queue.c
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@ -123,7 +123,7 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t del
work->qtime = hrt_absolute_time(); /* Time work queued */
//PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime);
dq_addlast((dq_entry_t *)work, &wqueue->q);
dq_addlast(&work->dq, &wqueue->q);
if (px4_getpid() != wqueue->pid) { /* only need to wake up if called from a different thread */
#ifdef __PX4_QURT

2
platforms/common/work_queue/hrt_thread.c
View File

@ -155,7 +155,7 @@ static void hrt_work_process()
if (elapsed >= work->delay) {
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *) & (work->dq), &(wqueue->q));
(void)dq_rem((dq_entry_t *)&work->dq, &wqueue->q);
//PX4_INFO("Dequeued work=%p", work);
/* Extract the work description from the entry (in case the work

2
platforms/common/work_queue/hrt_work_cancel.c
View File

@ -103,7 +103,7 @@ void hrt_work_cancel(struct work_s *work)
* mark as availalbe (i.e., the worker field is nullified).
*/
dq_rem((dq_entry_t *)work, &wqueue->q);
dq_rem(&work->dq, &wqueue->q);
work->worker = NULL;
}

5
platforms/posix/src/px4/common/drv_hrt.cpp
View File

@ -95,7 +95,8 @@ hrt_abstime hrt_absolute_time_offset()
static void hrt_lock()
{
px4_sem_wait(&_hrt_lock);
// loop as the wait may be interrupted by a signal
do {} while (px4_sem_wait(&_hrt_lock) != 0);
}
static void hrt_unlock()
@ -333,7 +334,7 @@ hrt_call_reschedule()
// Remove the existing expiry and update with the new expiry
hrt_work_cancel(&_hrt_work);
hrt_work_queue(&_hrt_work, (worker_t)&hrt_tim_isr, nullptr, delay);
hrt_work_queue(&_hrt_work, &hrt_tim_isr, nullptr, delay);
}
static void