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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/mavlink/mavlink_main.cpp
+14 -14
View File
@@ -345,7 +345,7 @@ Mavlink::~Mavlink()
do {
/* wait 20ms */
usleep(20000);
px4_usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
@@ -465,7 +465,7 @@ Mavlink::destroy_all_instances()
while (inst_to_del->_task_running) {
printf(".");
fflush(stdout);
usleep(10000);
px4_usleep(10000);
iterations++;
if (iterations > 1000) {
@@ -701,7 +701,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_
/* back off 1800 ms to avoid running into the USB setup timing */
while (_mode == MAVLINK_MODE_CONFIG &&
hrt_absolute_time() < 1800U * 1000U) {
usleep(50000);
px4_usleep(50000);
}
/* open uart */
@@ -734,7 +734,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_
}
}
usleep(100000);
px4_usleep(100000);
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
}
@@ -1457,7 +1457,7 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
if (!_task_should_exit) {
/* wait for previous subscription completion */
while (_subscribe_to_stream != nullptr) {
usleep(MAIN_LOOP_DELAY / 2);
px4_usleep(MAIN_LOOP_DELAY / 2);
}
/* copy stream name */
@@ -1471,7 +1471,7 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
/* wait for subscription */
do {
usleep(MAIN_LOOP_DELAY / 2);
px4_usleep(MAIN_LOOP_DELAY / 2);
} while (_subscribe_to_stream != nullptr);
delete[] s;
@@ -2280,7 +2280,7 @@ Mavlink::task_main(int argc, char *argv[])
while (!_task_should_exit) {
/* main loop */
usleep(_main_loop_delay);
px4_usleep(_main_loop_delay);
perf_begin(_loop_perf);
@@ -2667,28 +2667,28 @@ void Mavlink::check_radio_config()
if (fs) {
/* switch to AT command mode */
usleep(1200000);
px4_usleep(1200000);
fprintf(fs, "+++\n");
usleep(1200000);
px4_usleep(1200000);
if (_param_radio_id.get() > 0) {
/* set channel */
fprintf(fs, "ATS3=%u\n", _param_radio_id.get());
usleep(200000);
px4_usleep(200000);
} else {
/* reset to factory defaults */
fprintf(fs, "AT&F\n");
usleep(200000);
px4_usleep(200000);
}
/* write config */
fprintf(fs, "AT&W");
usleep(200000);
px4_usleep(200000);
/* reboot */
fprintf(fs, "ATZ");
usleep(200000);
px4_usleep(200000);
// XXX NuttX suffers from a bug where
// fclose() also closes the fd, not just
@@ -2779,7 +2779,7 @@ Mavlink::start(int argc, char *argv[])
unsigned count = 0;
while (ic == Mavlink::instance_count() && count < limit) {
::usleep(sleeptime);
px4_usleep(sleeptime);
count++;
}
src/modules/mavlink/mavlink_receiver.cpp
+2 -2
View File
@@ -2638,7 +2638,7 @@ MavlinkReceiver::receive_thread(void *arg)
if (_mavlink->get_protocol() == UDP || _mavlink->get_protocol() == TCP) {
// make sure mavlink app has booted before we start using the socket
while (!_mavlink->boot_complete()) {
usleep(100000);
px4_usleep(100000);
}
fds[0].fd = _mavlink->get_socket_fd();
@@ -2662,7 +2662,7 @@ MavlinkReceiver::receive_thread(void *arg)
/* non-blocking read. read may return negative values */
if ((nread = ::read(fds[0].fd, buf, sizeof(buf))) < (ssize_t)character_count) {
const unsigned sleeptime = character_count * 1000000 / (_mavlink->get_baudrate() / 10);
usleep(sleeptime);
px4_usleep(sleeptime);
}
}