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Move instance to new task context

This commit is contained in:
Lorenz Meier 2014-02-02 01:32:13 +01:00
parent 63b18399c2
commit c73fbca0eb
2 changed files with 18 additions and 21 deletions
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33
src/modules/mavlink/mavlink_main.cpp
View File

@ -156,7 +156,7 @@ namespace mavlink
Mavlink *g_mavlink;
}
Mavlink::Mavlink(const char *port, unsigned baud_rate) :
Mavlink::Mavlink() :
_task_should_exit(false),
_mavlink_task(-1),
@ -215,9 +215,9 @@ int Mavlink::instance_count()
return inst_index + 1;
}
Mavlink* Mavlink::new_instance(const char *port, unsigned baud_rate)
Mavlink* Mavlink::new_instance()
{
Mavlink* inst = new Mavlink(port, baud_rate);
Mavlink* inst = new Mavlink();
Mavlink* parent = ::_head;
while (parent->_next != nullptr)
parent = parent->_next;
@ -1740,21 +1740,23 @@ Mavlink::task_main(int argc, char *argv[])
int Mavlink::start_helper(int argc, char *argv[])
{
// This is beyond evil.. and needs a lock to be safe
return Mavlink::get_instance(Mavlink::instance_count() - 1)->task_main(argc, argv);
// Create the instance in task context
Mavlink *instance = Mavlink::new_instance();
// This will actually only return once MAVLink exits
return instance->task_main(argc, argv);
}
int
Mavlink::start(Mavlink* mavlink)
Mavlink::start()
{
/* start the task */
char buf[32];
sprintf(buf, "mavlink if%d", Mavlink::instance_count());
mavlink->_mavlink_task = task_spawn_cmd(buf,
/*mavlink->_mavlink_task = */task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
SCHED_PRIORITY_DEFAULT,
2048,
(main_t)&Mavlink::start_helper,
NULL);
@ -1763,10 +1765,10 @@ Mavlink::start(Mavlink* mavlink)
// usleep(200);
// }
if (mavlink->_mavlink_task < 0) {
warn("task start failed");
return -errno;
}
// if (mavlink->_mavlink_task < 0) {
// warn("task start failed");
// return -errno;
// }
return OK;
}
@ -1790,13 +1792,8 @@ int mavlink_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
Mavlink *instance = Mavlink::new_instance("/dev/ttyS0", 57600);
if (mavlink::g_mavlink == nullptr)
mavlink::g_mavlink = instance;
// Instantiate thread
Mavlink::start(instance);
Mavlink::start();
// if (mavlink::g_mavlink != nullptr) {
// errx(1, "already running");

6
src/modules/mavlink/mavlink_main.h
View File

@ -143,7 +143,7 @@ public:
/**
* Constructor
*/
Mavlink(const char *port, unsigned baud_rate);
Mavlink();
/**
* Destructor, also kills the mavlinks task.
@ -155,7 +155,7 @@ public:
*
* @return OK on success.
*/
static int start(Mavlink* mavlink);
static int start();
/**
* Display the mavlink status.
@ -164,7 +164,7 @@ public:
static int instance_count();
static Mavlink* new_instance(const char *port, unsigned baud_rate);
static Mavlink* new_instance();
static Mavlink* get_instance(unsigned instance);