From 3b64be44f4fbe0ce3a1ee640d57ce7129da940f7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Wed, 3 May 2017 11:41:21 +0200
Subject: [PATCH] ModuleBase: add wait_until_running() method

---
 src/modules/events/send_event.cpp | 12 +++---------
 src/platforms/px4_module.h        | 22 ++++++++++++++++++++++
 2 files changed, 25 insertions(+), 9 deletions(-)

diff --git a/src/modules/events/send_event.cpp b/src/modules/events/send_event.cpp
index ab80e5afff..6e087dc4a2 100644
--- a/src/modules/events/send_event.cpp
+++ b/src/modules/events/send_event.cpp
@@ -52,16 +52,10 @@ int SendEvent::task_spawn(int argc, char *argv[])
 		return ret;
 	}
 
-	int i = 0;
+	ret = wait_until_running();
 
-	do {
-		/* wait up to 1s */
-		usleep(2500);
-
-	} while (!_object && ++i < 400);
-
-	if (i == 400) {
-		return -1;
+	if (ret < 0) {
+		return ret;
 	}
 
 	_task_id = task_id_is_work_queue;
diff --git a/src/platforms/px4_module.h b/src/platforms/px4_module.h
index faee961924..29c41bee97 100644
--- a/src/platforms/px4_module.h
+++ b/src/platforms/px4_module.h
@@ -320,6 +320,28 @@ protected:
 		unlock_module();
 	}
 
+	/**
+	 * Wait until _object got initialized (from the new thread). This can be called from task_spawn().
+	 * @return 0 on success, -1 on timeout.
+	 */
+	static int wait_until_running()
+	{
+		int i = 0;
+
+		do {
+			/* wait up to 1s */
+			usleep(2500);
+
+		} while (!_object && ++i < 400);
+
+		if (i == 400) {
+			PX4_ERR("Timed out while waiting for thread to start");
+			return -1;
+		}
+
+		return 0;
+	}
+
 	/** get the module's object instance (this is null if it's not running) */
 	static T *get_instance()
 	{