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fw att ctrl: Only return from start handler with all allocations done

This commit is contained in:
Lorenz Meier 2014-07-14 08:11:55 +02:00
parent 5f176d14fe
commit 8a0e83c9cd
1 changed files with 24 additions and 4 deletions
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28
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -99,13 +98,21 @@ public:
/**
* Start the sensors task.
*
* @return OK on success.
* @return OK on success.
*/
int start();
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
private:
bool _task_should_exit; /**< if true, sensor task should exit */
bool _task_running; /**< if true, task is running in its mainloop */
int _control_task; /**< task handle for sensor task */
int _att_sub; /**< vehicle attitude subscription */
@ -276,6 +283,7 @@ private:
* Main sensor collection task.
*/
void task_main();
};
namespace att_control
@ -287,12 +295,13 @@ namespace att_control
#endif
static const int ERROR = -1;
FixedwingAttitudeControl *g_control;
FixedwingAttitudeControl *g_control = nullptr;
}
FixedwingAttitudeControl::FixedwingAttitudeControl() :
_task_should_exit(false),
_task_running(false),
_control_task(-1),
/* subscriptions */
@ -598,6 +607,8 @@ FixedwingAttitudeControl::task_main()
fds[1].fd = _att_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
static int loop_counter = 0;
@ -921,6 +932,7 @@ FixedwingAttitudeControl::task_main()
warnx("exiting.\n");
_control_task = -1;
_task_running = false;
_exit(0);
}
@ -966,6 +978,14 @@ int fw_att_control_main(int argc, char *argv[])
err(1, "start failed");
}
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (att_control::g_control == nullptr || !att_control::g_control->task_running()) {
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
exit(0);
}