dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Added new file for virt dev posix-like functions and test case 

Moved posix-like functions to vcdev_posix.cpp and updated the
copyright notice.

Added test case to make sure poll unblocks when a write occurs.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-03-13 11:49:32 -07:00
parent 97a72563b8
commit 9718404d7f
8 changed files with 355 additions and 206 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/drivers/device/module.mk
View File

@ -45,5 +45,6 @@ SRCS = \
endif
ifeq ($(PX4_TARGET_OS),linux)
SRCS = vcdev.cpp \
vdevice.cpp
vdevice.cpp \
vcdev_posix.cpp
endif

213
src/drivers/device/vcdev.cpp
View File

@ -32,13 +32,11 @@
****************************************************************************/
/**
* @file cdev.cpp
* @file vcdev.cpp
*
* Character device base class.
* Virtual character device base class.
*/
//#include "px4_platform.h"
//#include "px4_device.h"
#include "px4_posix.h"
#include "device.h"
#include "drivers/drv_device.h"
@ -138,7 +136,7 @@ CDev::register_driver(const char *name, void *data)
for (int i=0;i<PX4_MAX_DEV; ++i) {
if (devmap[i] == NULL) {
devmap[i] = new px4_dev_t(name, (void *)data);
log("Registered DEV %s", name);
debug("Registered DEV %s", name);
ret = PX4_OK;
break;
}
@ -158,7 +156,7 @@ CDev::unregister_driver(const char *name)
if (devmap[i] && (strcmp(name, devmap[i]->name) == 0)) {
delete devmap[i];
devmap[i] = NULL;
log("Unregistered DEV %s", name);
debug("Unregistered DEV %s", name);
ret = PX4_OK;
break;
}
@ -325,7 +323,7 @@ int
CDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
{
int ret = PX4_OK;
log("CDev::Poll %s", setup ? "setup" : "teardown");
debug("CDev::Poll %s", setup ? "setup" : "teardown");
/*
* Lock against pollnotify() (and possibly other callers)
@ -338,7 +336,7 @@ CDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
* benefit.
*/
fds->priv = (void *)handlep;
log("CDev::poll: fds->priv = %p", handlep);
debug("CDev::poll: fds->priv = %p", handlep);
/*
* Handle setup requests.
@ -373,30 +371,33 @@ CDev::poll(px4_dev_handle_t *handlep, px4_pollfd_struct_t *fds, bool setup)
void
CDev::poll_notify(pollevent_t events)
{
log("CDev::poll_notify");
debug("CDev::poll_notify events = %0x", events);
/* lock against poll() as well as other wakeups */
lock();
//irqstate_t state = irqsave();
for (unsigned i = 0; i < _max_pollwaiters; i++)
if (nullptr != _pollset[i])
poll_notify_one(_pollset[i], events);
for (unsigned i = 0; i < _max_pollwaiters; i++)
if (nullptr != _pollset[i])
debug(" CHECK fds=%p %0x %0x",_pollset[i], _pollset[i]->revents, _pollset[i]->events);
unlock();
//irqrestore(state);
}
void
CDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
{
log("CDev::poll_notify_one");
debug("CDev::poll_notify_one");
int value;
sem_getvalue(fds->sem, &value);
/* update the reported event set */
fds->revents |= fds->events & events;
debug(" Events fds=%p %0x %0x %0x %d",fds, fds->revents, fds->events, events, value);
/* if the state is now interesting, wake the waiter if it's still asleep */
/* XXX semcount check here is a vile hack; counting semphores should not be abused as cvars */
if ((fds->revents != 0) && (value <= 0))
@ -406,6 +407,7 @@ CDev::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
pollevent_t
CDev::poll_state(px4_dev_handle_t *handlep)
{
debug("CDev::poll_notify");
/* by default, no poll events to report */
return 0;
}
@ -416,6 +418,7 @@ CDev::store_poll_waiter(px4_pollfd_struct_t *fds)
/*
* Look for a free slot.
*/
debug("CDev::store_poll_waiter");
for (unsigned i = 0; i < _max_pollwaiters; i++) {
if (nullptr == _pollset[i]) {
@ -432,6 +435,7 @@ CDev::store_poll_waiter(px4_pollfd_struct_t *fds)
int
CDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
{
debug("CDev::remove_poll_waiter");
for (unsigned i = 0; i < _max_pollwaiters; i++) {
if (fds == _pollset[i]) {
@ -445,7 +449,7 @@ CDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
return -EINVAL;
}
static CDev *get_dev(const char *path)
CDev *CDev::getDev(const char *path)
{
int i=0;
for (; i<PX4_MAX_DEV; ++i) {
@ -456,188 +460,5 @@ static CDev *get_dev(const char *path)
return NULL;
}
#define PX4_MAX_FD 100
static px4_dev_handle_t *filemap[PX4_MAX_FD] = {};
} // namespace device
extern "C" {
int px4_errno;
int
px4_open(const char *path, int flags)
{
device::CDev *dev = device::get_dev(path);
int ret = 0;
int i;
if (!dev) {
ret = -EINVAL;
}
else {
for (i=0; i<PX4_MAX_FD; ++i) {
if (device::filemap[i] == 0) {
device::filemap[i] = new device::px4_dev_handle_t(flags,dev,i);
break;
}
}
if (i < PX4_MAX_FD) {
ret = dev->open(device::filemap[i]);
}
else {
ret = -ENOENT;
}
}
if (ret < 0) {
px4_errno = -ret;
return -1;
}
printf("px4_open fd = %d\n", device::filemap[i]->fd);
return device::filemap[i]->fd;
}
int
px4_close(int fd)
{
int ret;
printf("px4_close fd = %d\n", fd);
if (fd < PX4_MAX_FD && fd >= 0) {
ret = ((device::CDev *)(device::filemap[fd]->cdev))->close(device::filemap[fd]);
device::filemap[fd] = NULL;
}
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
return ret;
}
ssize_t
px4_read(int fd, void *buffer, size_t buflen)
{
int ret;
printf("px4_read fd = %d\n", fd);
if (fd < PX4_MAX_FD && fd >= 0)
ret = ((device::CDev *)(device::filemap[fd]->cdev))->read(device::filemap[fd], (char *)buffer, buflen);
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
return ret;
}
ssize_t
px4_write(int fd, const void *buffer, size_t buflen)
{
int ret = PX4_ERROR;
printf("px4_write fd = %d\n", fd);
if (fd < PX4_MAX_FD && fd >= 0)
ret = ((device::CDev *)(device::filemap[fd]->cdev))->write(device::filemap[fd], (const char *)buffer, buflen);
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
return ret;
}
int
px4_ioctl(int fd, int cmd, unsigned long arg)
{
int ret = PX4_ERROR;
if (fd < PX4_MAX_FD && fd >= 0)
ret = ((device::CDev *)(device::filemap[fd]->cdev))->ioctl(device::filemap[fd], cmd, arg);
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
else {
px4_errno = -EINVAL;
}
return ret;
}
int
px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
{
sem_t sem;
int count = 0;
int ret;
unsigned int i;
struct timespec ts;
printf("Called px4_poll %d\n", timeout);
sem_init(&sem, 0, 0);
// For each fd
for (i=0; i<nfds; ++i)
{
fds[i].sem = &sem;
fds[i].revents = 0;
fds[i].priv = NULL;
// If fd is valid
if (fds[i].fd >= 0 && fds[i].fd < PX4_MAX_FD)
{
// TODO - get waiting FD events
printf("Called setup CDev->poll %d\n", fds[i].fd);
ret = ((device::CDev *)(device::filemap[fds[i].fd]->cdev))->poll(device::filemap[fds[i].fd], &fds[i], true);
if (ret < 0)
break;
}
}
if (ret >= 0)
{
if (timeout >= 0)
{
ts.tv_sec = timeout/1000;
ts.tv_nsec = (timeout % 1000)*1000;
//log("sem_wait for %d\n", timeout);
sem_timedwait(&sem, &ts);
//log("sem_wait finished\n");
}
else
{
printf("Blocking sem_wait\n");
sem_wait(&sem);
printf("Blocking sem_wait finished\n");
}
// For each fd
for (i=0; i<nfds; ++i)
{
fds[i].sem = &sem;
fds[i].revents = 0;
fds[i].priv = NULL;
// If fd is valid
if (fds[i].fd >= 0 && fds[i].fd < PX4_MAX_FD)
{
printf("Called CDev->poll %d\n", fds[i].fd);
ret = ((device::CDev *)(device::filemap[fds[i].fd]->cdev))->poll(device::filemap[fds[i].fd], &fds[i], false);
if (ret < 0)
break;
}
}
}
sem_destroy(&sem);
return count;
}
}

281
src/drivers/device/vcdev_posix.cpp Normal file
View File

@ -0,0 +1,281 @@
/****************************************************************************
*
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vcdev_posix.cpp
*
* POSIX-like API for virtual character device
*/
#include "px4_posix.h"
#include "device.h"
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <pthread.h>
#include <unistd.h>
#define DEBUG(...)
//#define DEBUG(...) printf(__VA_ARGS__)
using namespace device;
extern "C" {
struct timerData {
sem_t &sem;
struct timespec &ts;
timerData(sem_t &s, struct timespec &t) : sem(s), ts(t) {}
~timerData() {}
};
static void *timer_handler(void *data)
{
struct timerData *td = (struct timerData *)data;
if (td->ts.tv_sec) {
sleep(td->ts.tv_sec);
}
usleep(td->ts.tv_nsec/1000);
sem_post(&(td->sem));
printf("Timer expired\n");
return 0;
}
#define PX4_MAX_FD 100
static px4_dev_handle_t *filemap[PX4_MAX_FD] = {};
int px4_errno;
int
px4_open(const char *path, int flags)
{
CDev *dev = CDev::getDev(path);
int ret = 0;
int i;
if (!dev) {
ret = -EINVAL;
}
else {
for (i=0; i<PX4_MAX_FD; ++i) {
if (filemap[i] == 0) {
filemap[i] = new px4_dev_handle_t(flags,dev,i);
break;
}
}
if (i < PX4_MAX_FD) {
ret = dev->open(filemap[i]);
}
else {
ret = -ENOENT;
}
}
if (ret < 0) {
px4_errno = -ret;
return -1;
}
DEBUG("px4_open fd = %d", filemap[i]->fd);
return filemap[i]->fd;
}
int
px4_close(int fd)
{
int ret;
if (fd < PX4_MAX_FD && fd >= 0) {
CDev *dev = (CDev *)(filemap[fd]->cdev);
DEBUG("px4_close fd = %d\n", fd);
ret = dev->close(filemap[fd]);
filemap[fd] = NULL;
}
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
return ret;
}
ssize_t
px4_read(int fd, void *buffer, size_t buflen)
{
int ret;
if (fd < PX4_MAX_FD && fd >= 0) {
CDev *dev = (CDev *)(filemap[fd]->cdev);
DEBUG("px4_read fd = %d\n", fd);
ret = dev->read(filemap[fd], (char *)buffer, buflen);
}
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
return ret;
}
ssize_t
px4_write(int fd, const void *buffer, size_t buflen)
{
int ret = PX4_ERROR;
if (fd < PX4_MAX_FD && fd >= 0) {
CDev *dev = (CDev *)(filemap[fd]->cdev);
DEBUG("px4_write fd = %d\n", fd);
ret = dev->write(filemap[fd], (const char *)buffer, buflen);
}
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
return ret;
}
int
px4_ioctl(int fd, int cmd, unsigned long arg)
{
int ret = PX4_ERROR;
if (fd < PX4_MAX_FD && fd >= 0) {
CDev *dev = (CDev *)(filemap[fd]->cdev);
DEBUG("px4_ioctl fd = %d\n", fd);
ret = dev->ioctl(filemap[fd], cmd, arg);
}
else {
ret = -EINVAL;
}
if (ret < 0) {
px4_errno = -ret;
}
else {
px4_errno = -EINVAL;
}
return ret;
}
int
px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
{
sem_t sem;
int count = 0;
int ret;
unsigned int i;
struct timespec ts;
printf("Called px4_poll timeout = %d\n", timeout);
sem_init(&sem, 0, 0);
// For each fd
for (i=0; i<nfds; ++i)
{
fds[i].sem = &sem;
fds[i].revents = 0;
fds[i].priv = NULL;
// If fd is valid
if (fds[i].fd >= 0 && fds[i].fd < PX4_MAX_FD)
{
CDev *dev = (CDev *)(filemap[fds[i].fd]->cdev);;
DEBUG("px4_poll: CDev->poll(setup) %d\n", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], true);
if (ret < 0)
break;
DEBUG("xxxx fds=%p fds[%d].revents = %d\n", fds, i, fds[i].revents);
}
}
if (ret >= 0)
{
if (timeout >= 0)
{
pthread_t pt;
void *res;
ts.tv_sec = timeout/1000;
ts.tv_nsec = (timeout % 1000)*1000;
// Create a timer to unblock
struct timerData td(sem, ts);
int rv = pthread_create(&pt, NULL, timer_handler, (void *)&td);
if (rv != 0) {
count = -1;
goto cleanup;
}
sem_wait(&sem);
// Make sure timer thread is killed before sem goes
// out of scope
(void)pthread_cancel(pt);
(void)pthread_join(pt, &res);
}
else
{
sem_wait(&sem);
}
// For each fd
for (i=0; i<nfds; ++i)
{
// If fd is valid
if (fds[i].fd >= 0 && fds[i].fd < PX4_MAX_FD)
{
DEBUG("zzzz fds=%p fds[%d].revents = %d\n",fds, i, fds[i].revents);
CDev *dev = (CDev *)(filemap[fds[i].fd]->cdev);;
DEBUG("px4_poll: CDev->poll(teardown) %d\n", fds[i].fd);
ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
if (ret < 0)
break;
DEBUG("yyyy fds=%p fds[%d].revents = %d\n", fds, i, fds[i].revents);
if (fds[i].revents)
count += 1;
}
}
}
cleanup:
sem_destroy(&sem);
return count;
}
}

2
src/drivers/device/vdevice.cpp
View File

@ -50,7 +50,7 @@ Device::Device(const char *name) :
// public
// protected
_name(name),
_debug_enabled(true)
_debug_enabled(false)
{
sem_init(&_lock, 0, 1);

6
src/drivers/device/vdevice.h
View File

@ -146,7 +146,7 @@ protected:
* Note that we must loop as the wait may be interrupted by a signal.
*/
void lock() {
log("lock");
debug("lock");
do {} while (sem_wait(&_lock) != 0);
}
@ -154,7 +154,7 @@ protected:
* Release the driver lock.
*/
void unlock() {
log("unlock");
debug("unlock");
sem_post(&_lock);
}
@ -300,6 +300,8 @@ public:
*/
virtual int ioctl(px4_dev_handle_t *handlep, int cmd, unsigned long arg);
static CDev *getDev(const char *path);
protected:
int register_driver(const char *name, void *data);

45
src/platforms/linux/vcdev_test/vcdevtest_example.cpp
View File

@ -39,6 +39,7 @@
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include <px4_tasks.h>
#include "vcdevtest_example.h"
#include "drivers/device/device.h"
#include <unistd.h>
@ -50,13 +51,45 @@ using namespace device;
#define TESTDEV "/dev/vdevex"
int writer_main(int argc, char *argv[])
{
char buf[1] = { '1' };
int fd = px4_open(TESTDEV, PX4_F_RDONLY);
if (fd < 0) {
printf("--- Open failed %d %d", fd, px4_errno);
return -px4_errno;
}
// Wait for 3 seconds
printf("--- Sleeping for 3 sec\n");
int ret = sleep(3);
if (ret < 0) {
printf("--- usleep failed %d %d\n", ret, errno);
return ret;
}
printf("--- writing to fd\n");
return px4_write(fd, buf, 1);
}
class VCDevNode : public CDev {
public:
VCDevNode() : CDev("vcdevtest", TESTDEV) {};
~VCDevNode() {}
virtual ssize_t write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
};
ssize_t VCDevNode::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
{
// ignore what was written, but let pollers know something was written
poll_notify(POLLIN);
return buflen;
}
VCDevExample::~VCDevExample() {
if (_node) {
delete _node;
@ -123,6 +156,14 @@ int VCDevExample::main()
int i=0;
px4_pollfd_struct_t fds[1];
// Start a task that will write something in 3 seconds
(void)px4_task_spawn_cmd("writer",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 6,
2000,
writer_main,
(char* const*)NULL);
while (!mgr.exitRequested() && i<5) {
sleep(2);
@ -131,7 +172,9 @@ int VCDevExample::main()
fds[0].events = POLLIN;
fds[0].revents = 0;
ret = px4_poll(fds, 1, 500);
printf(" Calling Poll\n");
ret = px4_poll(fds, 1, 1000);
printf(" Done poll\n");
if (ret < 0) {
printf("poll failed %d %d\n", ret, px4_errno);
px4_close(fd);

5
src/platforms/linux/vcdev_test/vcdevtest_start_linux.cpp
View File

@ -42,11 +42,6 @@
#include <px4_tasks.h>
#include <stdio.h>
#include <string.h>
#include <sched.h>
#define SCHED_DEFAULT SCHED_FIFO
#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
static int daemon_task; /* Handle of deamon task / thread */

6
src/platforms/px4_tasks.h
View File

@ -48,6 +48,12 @@
typedef int px4_task_t;
#elif defined(__PX4_LINUX)
#include <pthread.h>
#include <sched.h>
#define SCHED_DEFAULT SCHED_FIFO
#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
typedef pthread_t px4_task_t;
typedef struct {