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Merge pull request #1181 from PX4/fixedwing_mem_handling 

Fixedwing mem handling
This commit is contained in:
Lorenz Meier 2014-07-14 08:42:06 +02:00
parent e28ca7db1b efa5d8f57f
commit d8004c8d2d
3 changed files with 70 additions and 9 deletions
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25
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
View File

@ -124,6 +124,13 @@ public:
*/
int start();
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
/**
* Print the current status.
*/
@ -151,7 +158,8 @@ public:
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _estimator_task; /**< task handle for sensor task */
bool _task_running; /**< if true, task is running in its mainloop */
int _estimator_task; /**< task handle for sensor task */
#ifndef SENSOR_COMBINED_SUB
int _gyro_sub; /**< gyro sensor subscription */
int _accel_sub; /**< accel sensor subscription */
@ -313,12 +321,13 @@ namespace estimator
#endif
static const int ERROR = -1;
FixedwingEstimator *g_estimator;
FixedwingEstimator *g_estimator = nullptr;
}
FixedwingEstimator::FixedwingEstimator() :
_task_should_exit(false),
_task_running(false),
_estimator_task(-1),
/* subscriptions */
@ -772,6 +781,8 @@ FixedwingEstimator::task_main()
_gps.vel_e_m_s = 0.0f;
_gps.vel_d_m_s = 0.0f;
_task_running = true;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
@ -1518,6 +1529,8 @@ FixedwingEstimator::task_main()
perf_end(_loop_perf);
}
_task_running = false;
warnx("exiting.\n");
_estimator_task = -1;
@ -1670,6 +1683,14 @@ int ekf_att_pos_estimator_main(int argc, char *argv[])
err(1, "start failed");
}
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (estimator::g_estimator == nullptr || !estimator::g_estimator->task_running()) {
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
exit(0);
}

28
src/modules/fw_att_control/fw_att_control_main.cpp
View File

@ -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);
}

26
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -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
@ -120,10 +119,18 @@ public:
*/
int start();
/**
* Task status
*
* @return true if the mainloop is running
*/
bool task_running() { return _task_running; }
private:
int _mavlink_fd;
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 _global_pos_sub;
@ -391,13 +398,14 @@ namespace l1_control
#endif
static const int ERROR = -1;
FixedwingPositionControl *g_control;
FixedwingPositionControl *g_control = nullptr;
}
FixedwingPositionControl::FixedwingPositionControl() :
_mavlink_fd(-1),
_task_should_exit(false),
_task_running(false),
_control_task(-1),
/* subscriptions */
@ -1290,6 +1298,8 @@ FixedwingPositionControl::task_main()
fds[1].fd = _global_pos_sub;
fds[1].events = POLLIN;
_task_running = true;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
@ -1390,6 +1400,8 @@ FixedwingPositionControl::task_main()
perf_end(_loop_perf);
}
_task_running = false;
warnx("exiting.\n");
_control_task = -1;
@ -1478,6 +1490,14 @@ int fw_pos_control_l1_main(int argc, char *argv[])
err(1, "start failed");
}
/* avoid memory fragmentation by not exiting start handler until the task has fully started */
while (l1_control::g_control == nullptr || !l1_control::g_control->task_running()) {
usleep(50000);
printf(".");
fflush(stdout);
}
printf("\n");
exit(0);
}