Merge branch 'master' of github.com:PX4/Firmware

This commit is contained in:
Lorenz Meier 2013-09-08 22:07:47 +02:00
commit 7866b90477
4 changed files with 51 additions and 14 deletions

View File

@ -144,8 +144,8 @@ static int mavlink_fd;
/* flags */
static bool commander_initialized = false;
static bool thread_should_exit = false; /**< daemon exit flag */
static bool thread_running = false; /**< daemon status flag */
static volatile bool thread_should_exit = false; /**< daemon exit flag */
static volatile bool thread_running = false; /**< daemon status flag */
static int daemon_task; /**< Handle of daemon task / thread */
static unsigned int leds_counter;
@ -230,7 +230,7 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("commander already running\n");
warnx("commander already running");
/* this is not an error */
exit(0);
}
@ -242,21 +242,38 @@ int commander_main(int argc, char *argv[])
3000,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
while (!thread_running) {
usleep(200);
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running)
errx(0, "commander already stopped");
thread_should_exit = true;
while (thread_running) {
usleep(200000);
warnx(".");
}
warnx("terminated.");
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("\tcommander is running\n");
warnx("\tcommander is running");
print_status();
} else {
warnx("\tcommander not started\n");
warnx("\tcommander not started");
}
exit(0);
@ -595,16 +612,20 @@ int commander_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[cmd] started");
int ret;
pthread_attr_t commander_low_prio_attr;
pthread_attr_init(&commander_low_prio_attr);
pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
/* low priority */
param.sched_priority = SCHED_PRIORITY_DEFAULT - 50;
(void)pthread_attr_setschedparam(&commander_low_prio_attr, &param);
pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL);
pthread_attr_destroy(&commander_low_prio_attr);
/* Start monitoring loop */
unsigned counter = 0;
@ -1200,7 +1221,12 @@ int commander_thread_main(int argc, char *argv[])
}
/* wait for threads to complete */
pthread_join(commander_low_prio_thread, NULL);
ret = pthread_join(commander_low_prio_thread, NULL);
if (ret) {
warn("join failed", ret);
}
rgbled_set_mode(RGBLED_MODE_OFF);
/* close fds */
led_deinit();
@ -1218,9 +1244,6 @@ int commander_thread_main(int argc, char *argv[])
close(param_changed_sub);
close(battery_sub);
warnx("exiting");
fflush(stdout);
thread_running = false;
return 0;
@ -1628,7 +1651,7 @@ void *commander_low_prio_loop(void *arg)
while (!thread_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0)
@ -1785,5 +1808,5 @@ void *commander_low_prio_loop(void *arg)
close(cmd_sub);
return 0;
return NULL;
}

View File

@ -743,7 +743,7 @@ int mavlink_thread_main(int argc, char *argv[])
thread_running = false;
exit(0);
return 0;
}
static void
@ -767,7 +767,7 @@ int mavlink_main(int argc, char *argv[])
/* this is not an error */
if (thread_running)
errx(0, "mavlink already running\n");
errx(0, "mavlink already running");
thread_should_exit = false;
mavlink_task = task_spawn_cmd("mavlink",
@ -776,15 +776,25 @@ int mavlink_main(int argc, char *argv[])
2048,
mavlink_thread_main,
(const char **)argv);
while (!thread_running) {
usleep(200);
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
/* this is not an error */
if (!thread_running)
errx(0, "mavlink already stopped");
thread_should_exit = true;
while (thread_running) {
usleep(200000);
printf(".");
warnx(".");
}
warnx("terminated.");

View File

@ -755,5 +755,7 @@ receive_start(int uart)
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
pthread_attr_destroy(&receiveloop_attr);
return thread;
}

View File

@ -829,5 +829,7 @@ uorb_receive_start(void)
pthread_t thread;
pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL);
pthread_attr_destroy(&uorb_attr);
return thread;
}