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gps: use px4::atomic instead of volatile

This commit is contained in:
Beat Küng 2020-08-27 16:18:22 +02:00 committed by Daniel Agar
parent e906106ea2
commit 2b0396d5df
1 changed files with 20 additions and 19 deletions
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39
src/drivers/gps/gps.cpp
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@ -50,6 +50,7 @@
#include <lib/parameters/param.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/cli.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
@ -179,12 +180,12 @@ private:
gps_dump_s *_dump_from_device{nullptr};
bool _should_dump_communication{false}; ///< if true, dump communication
static volatile bool _is_gps_main_advertised; ///< for the second gps we want to make sure that it gets instance 1
static px4::atomic_bool _is_gps_main_advertised; ///< for the second gps we want to make sure that it gets instance 1
/// and thus we wait until the first one publishes at least one message.
static volatile GPS *_secondary_instance;
static px4::atomic<GPS *> _secondary_instance;
volatile GPSRestartType _scheduled_reset{GPSRestartType::None};
px4::atomic<int> _scheduled_reset{(int)GPSRestartType::None};
/**
* Publish the gps struct
@ -243,8 +244,8 @@ private:
void initializeCommunicationDump();
};
volatile bool GPS::_is_gps_main_advertised = false;
volatile GPS *GPS::_secondary_instance = nullptr;
px4::atomic_bool GPS::_is_gps_main_advertised{false};
px4::atomic<GPS *> GPS::_secondary_instance{nullptr};
/*
* Driver 'main' command.
@ -280,7 +281,7 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac
GPS::~GPS()
{
GPS *secondary_instance = (GPS *) _secondary_instance;
GPS *secondary_instance = _secondary_instance.load();
if (_instance == Instance::Main && secondary_instance) {
secondary_instance->request_stop();
@ -291,7 +292,7 @@ GPS::~GPS()
do {
px4_usleep(20000); // 20 ms
++i;
} while (_secondary_instance && i < 100);
} while (_secondary_instance.load() && i < 100);
}
delete _sat_info;
@ -892,8 +893,8 @@ GPS::print_status()
print_message(_report_gps_pos);
}
if (_instance == Instance::Main && _secondary_instance) {
GPS *secondary_instance = (GPS *)_secondary_instance;
if (_instance == Instance::Main && _secondary_instance.load()) {
GPS *secondary_instance = _secondary_instance.load();
secondary_instance->print_status();
}
@ -903,10 +904,10 @@ GPS::print_status()
void
GPS::schedule_reset(GPSRestartType restart_type)
{
_scheduled_reset = restart_type;
_scheduled_reset.store((int)restart_type);
if (_instance == Instance::Main && _secondary_instance) {
GPS *secondary_instance = (GPS *)_secondary_instance;
if (_instance == Instance::Main && _secondary_instance.load()) {
GPS *secondary_instance = _secondary_instance.load();
secondary_instance->schedule_reset(restart_type);
}
}
@ -914,10 +915,10 @@ GPS::schedule_reset(GPSRestartType restart_type)
void
GPS::reset_if_scheduled()
{
GPSRestartType restart_type = _scheduled_reset;
GPSRestartType restart_type = (GPSRestartType)_scheduled_reset.load();
if (restart_type != GPSRestartType::None) {
_scheduled_reset = GPSRestartType::None;
_scheduled_reset.store((int)GPSRestartType::None);
int res = _helper->reset(restart_type);
if (res == -1) {
@ -935,12 +936,12 @@ GPS::reset_if_scheduled()
void
GPS::publish()
{
if (_instance == Instance::Main || _is_gps_main_advertised) {
if (_instance == Instance::Main || _is_gps_main_advertised.load()) {
_report_gps_pos_pub.publish(_report_gps_pos);
// Heading/yaw data can be updated at a lower rate than the other navigation data.
// The uORB message definition requires this data to be set to a NAN if no new valid data is available.
_report_gps_pos.heading = NAN;
_is_gps_main_advertised = true;
_is_gps_main_advertised.store(true);
}
}
@ -1087,10 +1088,10 @@ int GPS::run_trampoline_secondary(int argc, char *argv[])
GPS *gps = instantiate(argc, argv, Instance::Secondary);
if (gps) {
_secondary_instance = gps;
_secondary_instance.store(gps);
gps->run();
_secondary_instance = nullptr;
_secondary_instance.store(nullptr);
delete gps;
}
return 0;
@ -1207,7 +1208,7 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
/* wait up to 1s */
px4_usleep(2500);
} while (!_secondary_instance && ++i < 400);
} while (!_secondary_instance.load() && ++i < 400);
if (i == 400) {
PX4_ERR("Timed out while waiting for thread to start");