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Replacing usleep with px4_usleep

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This is a step towards isolating time from the system.
This commit is contained in:
Julian Oes
2018-12-22 10:32:18 +01:00
parent e485885344
commit 5b9dea5604
112 changed files with 339 additions and 305 deletions
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src/modules/commander/Commander.cpp
+10 -10
View File
@@ -310,7 +310,7 @@ int commander_main(int argc, char *argv[])
unsigned i;
for (i = 0; i < max_wait_steps; i++) {
usleep(max_wait_us / max_wait_steps);
px4_usleep(max_wait_us / max_wait_steps);
if (thread_running) {
break;
@@ -1629,7 +1629,7 @@ Commander::run()
* so lets reset to a classic non-usb state.
*/
mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting.")
usleep(400000);
px4_usleep(400000);
px4_shutdown_request(true, false);
}
}
@@ -2101,7 +2101,7 @@ Commander::run()
&mavlink_log_pub, &status_flags, arm_requirements, hrt_elapsed_time(&commander_boot_timestamp));
if (arming_ret != TRANSITION_CHANGED) {
usleep(100000);
px4_usleep(100000);
print_reject_arm("NOT ARMING: Preflight checks failed");
}
}
@@ -2556,7 +2556,7 @@ Commander::run()
arm_auth_update(now, params_updated || param_init_forced);
usleep(COMMANDER_MONITORING_INTERVAL);
px4_usleep(COMMANDER_MONITORING_INTERVAL);
}
thread_should_exit = true;
@@ -3574,19 +3574,19 @@ void *commander_low_prio_loop(void *arg)
if (((int)(cmd.param1)) == 1) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
usleep(100000);
px4_usleep(100000);
/* reboot */
px4_shutdown_request(true, false);
} else if (((int)(cmd.param1)) == 2) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
usleep(100000);
px4_usleep(100000);
/* shutdown */
px4_shutdown_request(false, false);
} else if (((int)(cmd.param1)) == 3) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED, command_ack_pub);
usleep(100000);
px4_usleep(100000);
/* reboot to bootloader */
px4_shutdown_request(true, true);
@@ -3733,7 +3733,7 @@ void *commander_low_prio_loop(void *arg)
#ifdef __PX4_QURT
// TODO FIXME: on snapdragon the save happens too early when the params
// are not set yet. We therefore need to wait some time first.
usleep(1000000);
px4_usleep(1000000);
#endif
int ret = param_save_default();
@@ -4115,7 +4115,7 @@ void Commander::battery_status_check()
if (battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
usleep(200000);
px4_usleep(200000);
int ret_val = px4_shutdown_request(false, false);
@@ -4123,7 +4123,7 @@ void Commander::battery_status_check()
mavlink_log_critical(&mavlink_log_pub, "SYSTEM DOES NOT SUPPORT SHUTDOWN");
} else {
while (1) { usleep(1); }
while (1) { px4_usleep(1); }
}
}
}
src/modules/commander/accelerometer_calibration.cpp
+2 -2
View File
@@ -441,7 +441,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
if (res == PX4_OK) {
/* if there is a any preflight-check system response, let the barrage of messages through */
usleep(200000);
px4_usleep(200000);
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
@@ -450,7 +450,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
}
/* give this message enough time to propagate */
usleep(600000);
px4_usleep(600000);
return res;
}
src/modules/commander/airspeed_calibration.cpp
+3 -3
View File
@@ -121,7 +121,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
}
calibration_log_critical(mavlink_log_pub, "[cal] Ensure sensor is not measuring wind");
usleep(500 * 1000);
px4_usleep(500 * 1000);
while (calibration_counter < calibration_count) {
@@ -198,7 +198,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
calibration_log_info(mavlink_log_pub, "[cal] Offset of %d Pascal", (int)diff_pres_offset);
/* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000);
px4_usleep(500 * 1000);
calibration_log_critical(mavlink_log_pub, "[cal] Blow across front of pitot without touching");
@@ -277,7 +277,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
/* Wait 2sec for the airflow to stop and ensure the driver filter has caught up, otherwise
* the followup preflight checks might fail. */
usleep(2e6);
px4_usleep(2e6);
normal_return:
calibrate_cancel_unsubscribe(cancel_sub);
src/modules/commander/arm_auth.cpp
+1 -1
View File
@@ -120,7 +120,7 @@ static uint8_t _auth_method_arm_req_check()
}
/* 0.5ms */
usleep(500);
px4_usleep(500);
now = hrt_absolute_time();
}
src/modules/commander/calibration_routines.cpp
+10 -10
View File
@@ -605,7 +605,7 @@ enum detect_orientation_return detect_orientation(orb_advert_t *mavlink_log_pub,
/* not still, reset still start time */
if (t_still != 0) {
calibration_log_info(mavlink_log_pub, "[cal] detected motion, hold still...");
usleep(200000);
px4_usleep(200000);
t_still = 0;
}
}
@@ -739,16 +739,16 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
}
calibration_log_info(mavlink_log_pub, "[cal] pending:%s", pendingStr);
usleep(20000);
px4_usleep(20000);
calibration_log_info(mavlink_log_pub, "[cal] hold vehicle still on a pending side");
usleep(20000);
px4_usleep(20000);
enum detect_orientation_return orient = detect_orientation(mavlink_log_pub, cancel_sub, sub_accel,
lenient_still_position);
if (orient == DETECT_ORIENTATION_ERROR) {
orientation_failures++;
calibration_log_info(mavlink_log_pub, "[cal] detected motion, hold still...");
usleep(20000);
px4_usleep(20000);
continue;
}
@@ -757,14 +757,14 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
orientation_failures++;
set_tune(TONE_NOTIFY_NEGATIVE_TUNE);
calibration_log_info(mavlink_log_pub, "[cal] %s side already completed", detect_orientation_str(orient));
usleep(20000);
px4_usleep(20000);
continue;
}
calibration_log_info(mavlink_log_pub, CAL_QGC_ORIENTATION_DETECTED_MSG, detect_orientation_str(orient));
usleep(20000);
px4_usleep(20000);
calibration_log_info(mavlink_log_pub, CAL_QGC_ORIENTATION_DETECTED_MSG, detect_orientation_str(orient));
usleep(20000);
px4_usleep(20000);
orientation_failures = 0;
// Call worker routine
@@ -775,9 +775,9 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
}
calibration_log_info(mavlink_log_pub, CAL_QGC_SIDE_DONE_MSG, detect_orientation_str(orient));
usleep(20000);
px4_usleep(20000);
calibration_log_info(mavlink_log_pub, CAL_QGC_SIDE_DONE_MSG, detect_orientation_str(orient));
usleep(20000);
px4_usleep(20000);
// Note that this side is complete
side_data_collected[orient] = true;
@@ -787,7 +787,7 @@ calibrate_return calibrate_from_orientation(orb_advert_t *mavlink_log_pub,
// temporary priority boost for the white blinking led to come trough
rgbled_set_color_and_mode(led_control_s::COLOR_WHITE, led_control_s::MODE_BLINK_FAST, 3, 1);
usleep(200000);
px4_usleep(200000);
}
if (sub_accel >= 0) {
src/modules/commander/calibration_routines.h
+3 -3
View File
@@ -140,17 +140,17 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, ///< uORB handle to w
#define calibration_log_info(_pub, _text, ...) \
do { \
mavlink_and_console_log_info(_pub, _text, ##__VA_ARGS__); \
usleep(10000); \
px4_usleep(10000); \
} while(0);
#define calibration_log_critical(_pub, _text, ...) \
do { \
mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
usleep(10000); \
px4_usleep(10000); \
} while(0);
#define calibration_log_emergency(_pub, _text, ...) \
do { \
mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
usleep(10000); \
px4_usleep(10000); \
} while(0);
src/modules/commander/esc_calibration.cpp
+2 -2
View File
@@ -79,7 +79,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s *a
break;
} else {
usleep(50000);
px4_usleep(50000);
}
}
@@ -188,7 +188,7 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s *a
}
}
usleep(50_ms);
px4_usleep(50_ms);
}
Out:
src/modules/commander/gyro_calibration.cpp
+2 -2
View File
@@ -539,7 +539,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
}
/* if there is a any preflight-check system response, let the barrage of messages through */
usleep(200000);
px4_usleep(200000);
if (res == PX4_OK) {
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
@@ -551,7 +551,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
orb_unsubscribe(worker_data.sensor_correction_sub);
/* give this message enough time to propagate */
usleep(600000);
px4_usleep(600000);
return res;
}
src/modules/commander/mag_calibration.cpp
+9 -9
View File
@@ -246,23 +246,23 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
case calibrate_return_ok:
/* if there is a any preflight-check system response, let the barrage of messages through */
usleep(200000);
px4_usleep(200000);
calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100);
usleep(20000);
px4_usleep(20000);
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
usleep(20000);
px4_usleep(20000);
break;
default:
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, sensor_name);
usleep(20000);
px4_usleep(20000);
break;
}
}
/* give this message enough time to propagate */
usleep(600000);
px4_usleep(600000);
return result;
}
@@ -497,7 +497,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
calibration_log_info(worker_data->mavlink_log_pub,
"[cal] %s side calibration: progress <%u>",
detect_orientation_str(orientation), new_progress);
usleep(20000);
px4_usleep(20000);
_last_mag_progress = new_progress;
}
@@ -519,7 +519,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
detect_orientation_str(orientation));
worker_data->done_count++;
usleep(20000);
px4_usleep(20000);
calibration_log_info(worker_data->mavlink_log_pub, CAL_QGC_PROGRESS_MSG, progress_percentage(worker_data));
}
@@ -559,7 +559,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
calibration_log_info(mavlink_log_pub,
"[cal] %s side done, rotate to a different side",
detect_orientation_str(static_cast<enum detect_orientation_return>(i)));
usleep(100000);
px4_usleep(100000);
}
}
@@ -891,7 +891,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
calibration_log_info(mavlink_log_pub, "[cal] mag #%u scale: x:%.2f y:%.2f z:%.2f",
cur_mag, (double)mscale.x_scale, (double)mscale.y_scale, (double)mscale.z_scale);
#endif
usleep(200000);
px4_usleep(200000);
}
}
}
src/modules/commander/rc_calibration.cpp
+1 -1
View File
@@ -54,7 +54,7 @@
int do_trim_calibration(orb_advert_t *mavlink_log_pub)
{
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
usleep(400000);
px4_usleep(400000);
struct manual_control_setpoint_s sp;
bool changed;
orb_check(sub_man, &changed);
src/modules/commander/rc_check.cpp
+10 -10
View File
@@ -77,7 +77,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC_MAP_TRANS_SW PARAMETER MISSING."); }
/* give system time to flush error message in case there are more */
usleep(100000);
px4_usleep(100000);
map_fail_count++;
} else {
@@ -102,7 +102,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: PARAM %s MISSING.", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
usleep(100000);
px4_usleep(100000);
map_fail_count++;
j++;
continue;
@@ -115,7 +115,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: %s >= NUMBER OF CHANNELS.", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
usleep(100000);
px4_usleep(100000);
map_fail_count++;
}
@@ -123,7 +123,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: mandatory %s is unmapped.", rc_map_mandatory[j]); }
/* give system time to flush error message in case there are more */
usleep(100000);
px4_usleep(100000);
map_fail_count++;
}
@@ -176,7 +176,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_MIN < %u.", i + 1, RC_INPUT_LOWEST_MIN_US); }
/* give system time to flush error message in case there are more */
usleep(100000);
px4_usleep(100000);
}
if (param_max > RC_INPUT_HIGHEST_MAX_US) {
@@ -185,7 +185,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_MAX > %u.", i + 1, RC_INPUT_HIGHEST_MAX_US); }
/* give system time to flush error message in case there are more */
usleep(100000);
px4_usleep(100000);
}
if (param_trim < param_min) {
@@ -194,7 +194,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_TRIM < MIN (%d/%d).", i + 1, (int)param_trim, (int)param_min); }
/* give system time to flush error message in case there are more */
usleep(100000);
px4_usleep(100000);
}
if (param_trim > param_max) {
@@ -203,7 +203,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_TRIM > MAX (%d/%d).", i + 1, (int)param_trim, (int)param_max); }
/* give system time to flush error message in case there are more */
usleep(100000);
px4_usleep(100000);
}
/* assert deadzone is sane */
@@ -211,7 +211,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERROR: RC%d_DZ > %u.", i + 1, RC_INPUT_MAX_DEADZONE_US); }
/* give system time to flush error message in case there are more */
usleep(100000);
px4_usleep(100000);
count++;
}
@@ -231,7 +231,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
(total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
}
usleep(100000);
px4_usleep(100000);
}
return total_fail_count + map_fail_count;