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spinOnce(), fixes #31

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This commit is contained in:
Pavel Kirienko
2015-05-27 11:53:12 +03:00
parent 89c8ed0cf1
commit 74298b1860
6 changed files with 99 additions and 4 deletions
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libuavcan/src/node/uc_scheduler.cpp
+24 -2
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@@ -159,7 +159,8 @@ int Scheduler::spin(MonotonicTime deadline)
UAVCAN_ASSERT(0);
return -ErrRecursiveCall;
}
inside_spin_ = true;
InsideSpinSetter iss(*this);
UAVCAN_ASSERT(inside_spin_);
int retval = 0;
while (true)
@@ -179,7 +180,28 @@ int Scheduler::spin(MonotonicTime deadline)
}
}
inside_spin_ = false;
return retval;
}
int Scheduler::spinOnce()
{
if (inside_spin_) // Preventing recursive calls
{
UAVCAN_ASSERT(0);
return -ErrRecursiveCall;
}
InsideSpinSetter iss(*this);
UAVCAN_ASSERT(inside_spin_);
const int retval = dispatcher_.spinOnce();
if (retval < 0)
{
return retval;
}
const MonotonicTime ts = deadline_scheduler_.pollAndGetMonotonicTime(getSystemClock());
pollCleanup(ts, unsigned(retval));
return retval;
}