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dataman: add dm_trylock & add lock for FENCE_POINTS items

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This commit is contained in:
Beat Küng
2017-05-18 11:59:53 +02:00
committed by Lorenz Meier
parent 1942641ff6
commit 72501df88e
2 changed files with 59 additions and 15 deletions
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src/modules/dataman/dataman.cpp
+40 -10
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@@ -242,7 +242,8 @@ static unsigned int g_key_offsets[DM_KEY_NUM_KEYS];
/* Item type lock mutexes */
static px4_sem_t *g_item_locks[DM_KEY_NUM_KEYS];
static px4_sem_t g_sys_state_mutex;
static px4_sem_t g_sys_state_mutex_mission;
static px4_sem_t g_sys_state_mutex_fence;
/* The data manager store file handle and file name */
#if defined(__PX4_POSIX_EAGLE) || defined(__PX4_POSIX_EXCELSIOR)
@@ -1154,22 +1155,48 @@ dm_clear(dm_item_t item)
return enqueue_work_item_and_wait_for_result(work);
}
/** Lock a data Item */
__EXPORT void
__EXPORT int
dm_lock(dm_item_t item)
{
/* Make sure data manager has been started and is not shutting down */
if (!is_running() || g_task_should_exit) {
return;
errno = EINVAL;
return -1;
}
if (item >= DM_KEY_NUM_KEYS) {
return;
errno = EINVAL;
return -1;
}
if (g_item_locks[item]) {
px4_sem_wait(g_item_locks[item]);
return px4_sem_wait(g_item_locks[item]);
}
errno = EINVAL;
return -1;
}
__EXPORT int
dm_trylock(dm_item_t item)
{
/* Make sure data manager has been started and is not shutting down */
if (!is_running() || g_task_should_exit) {
errno = EINVAL;
return -1;
}
if (item >= DM_KEY_NUM_KEYS) {
errno = EINVAL;
return -1;
}
if (g_item_locks[item]) {
return px4_sem_trywait(g_item_locks[item]);
}
errno = EINVAL;
return -1;
}
/** Unlock a data Item */
@@ -1263,14 +1290,16 @@ task_main(int argc, char *argv[])
g_func_counts[i] = 0;
}
/* Initialize the item type locks, for now only DM_KEY_MISSION_STATE supports locking */
px4_sem_init(&g_sys_state_mutex, 1, 1); /* Initially unlocked */
/* Initialize the item type locks, for now only DM_KEY_MISSION_STATE & DM_KEY_FENCE_POINTS supports locking */
px4_sem_init(&g_sys_state_mutex_mission, 1, 1); /* Initially unlocked */
px4_sem_init(&g_sys_state_mutex_fence, 1, 1); /* Initially unlocked */
for (unsigned i = 0; i < DM_KEY_NUM_KEYS; i++) {
g_item_locks[i] = nullptr;
}
g_item_locks[DM_KEY_MISSION_STATE] = &g_sys_state_mutex;
g_item_locks[DM_KEY_MISSION_STATE] = &g_sys_state_mutex_mission;
g_item_locks[DM_KEY_FENCE_POINTS] = &g_sys_state_mutex_fence;
g_task_should_exit = false;
@@ -1406,7 +1435,8 @@ end:
destroy_q(&g_work_q);
destroy_q(&g_free_q);
px4_sem_destroy(&g_work_queued_sema);
px4_sem_destroy(&g_sys_state_mutex);
px4_sem_destroy(&g_sys_state_mutex_mission);
px4_sem_destroy(&g_sys_state_mutex_fence);
return 0;
}