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Merge pull request #2873 from mcharleb/poll_test 

Fixed poll timeout bug
This commit is contained in:
Lorenz Meier 2015-09-17 00:30:11 +02:00
parent e635052dd2 7d2ba97511
commit d8f5360868
3 changed files with 38 additions and 4 deletions
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6
src/drivers/device/vdev_posix.cpp
View File

@ -195,7 +195,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
{
sem_t sem;
int count = 0;
int ret;
int ret = -1;
unsigned int i;
PX4_DEBUG("Called px4_poll timeout = %d", timeout);
@ -222,7 +222,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
if (ret >= 0)
{
if (timeout >= 0)
if (timeout > 0)
{
// Use a work queue task
work_s _hpwork;
@ -234,7 +234,7 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
// out of scope
hrt_work_cancel(&_hpwork);
}
else
else if (timeout < 0)
{
sem_wait(&sem);
}

5
src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
View File

@ -303,6 +303,11 @@ int VCDevExample::main()
ret = 1;
goto fail2;
}
PX4_INFO("TEST: 100ms TIMEOUT POLL -----------");
if(do_poll(fd, 0, 30, 100)) {
ret = 1;
goto fail2;
}
PX4_INFO("TEST: 1 SEC TIMOUT POLL ------------");
if(do_poll(fd, 1000, 3, 0)) {
ret = 1;

31
src/platforms/posix/work_queue/hrt_thread.c
View File

@ -41,6 +41,7 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <stdint.h>
#include <signal.h>
#include <stdio.h>
#include <unistd.h>
#include <queue.h>
@ -73,6 +74,26 @@ sem_t _hrt_work_lock;
****************************************************************************/
static void hrt_work_process(void);
static void _sighandler(int sig_num);
/****************************************************************************
* Name: _sighandler
*
* Description:
* This is the handler for the signal to wake the queue processing thread
*
* Input parameters:
* sig_num - the received signal
*
* Returned Value:
* None
*
****************************************************************************/
static void _sighandler(int sig_num)
{
PX4_DEBUG("RECEIVED SIGNAL %d", sig_num);
}
/****************************************************************************
* Name: work_process
*
@ -96,6 +117,7 @@ static void hrt_work_process()
uint64_t elapsed;
uint32_t remaining;
uint32_t next;
int ret;
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
@ -185,7 +207,8 @@ static void hrt_work_process()
/* might sleep less if a signal received and new item was queued */
//PX4_INFO("Sleeping for %u usec", next);
usleep(next);
ret = usleep(next);
//PX4_INFO("WOKE UP %d", ret);
}
/****************************************************************************
@ -251,5 +274,11 @@ void hrt_work_queue_init(void)
work_hrtthread,
(char *const *)NULL);
#ifdef __PX4_QURT
signal(SIGALRM, _sighandler);
#else
signal(SIGCONT, _sighandler);
#endif
}