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simulator: cleanup and wait for startup

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Unfortunately this commit contains two things:
1. Some cleanup and renaiming.
2. An additional wait until lockstep has been initialized.
   By waiting until HIL_SENSOR messages arrive including timestamps we
   stop the startup script and prevent other modules from running until
   time is set up. This should resolve some busy waiting by various
   modules and prevent races on initialization (e.g. the landing state
   being subscribed by mavlink before being published by the land
   detector).
This commit is contained in:
Julian Oes
2019-11-18 14:15:13 +01:00
committed by Lorenz Meier
parent 99fbadac70
commit 8817f172ea
3 changed files with 67 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulator/simulator.cpp
+47 -53
View File
@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -42,14 +42,7 @@
#include <px4_platform_common/log.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/time.h>
#include <pthread.h>
#include <poll.h>
#include <systemlib/err.h>
#include <errno.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>
#include <drivers/drv_board_led.h>
#include "simulator.h"
@@ -106,10 +99,8 @@ int Simulator::start(int argc, char *argv[])
}
#ifndef __PX4_QURT
// Update sensor data
_instance->poll_for_MAVLink_messages();
_instance->run();
#endif
return 0;
} else {
@@ -130,58 +121,61 @@ void Simulator::set_port(unsigned port)
static void usage()
{
PX4_WARN("Usage: simulator {start -[spt] [-u udp_port / -c tcp_port] |stop}");
PX4_WARN("Start simulator: simulator start");
PX4_WARN("Connect using UDP: simulator start -u udp_port");
PX4_WARN("Connect using TCP: simulator start -c tcp_port");
PX4_INFO("Usage: simulator {start -[spt] [-u udp_port / -c tcp_port] |stop}");
PX4_INFO("Start simulator: simulator start");
PX4_INFO("Connect using UDP: simulator start -u udp_port");
PX4_INFO("Connect using TCP: simulator start -c tcp_port");
}
__BEGIN_DECLS
extern int simulator_main(int argc, char *argv[]);
__END_DECLS
extern "C" {
int simulator_main(int argc, char *argv[])
{
if (argc > 1 && strcmp(argv[1], "start") == 0) {
int simulator_main(int argc, char *argv[])
{
if (argc > 1 && strcmp(argv[1], "start") == 0) {
if (g_sim_task >= 0) {
PX4_WARN("Simulator already started");
return 0;
}
g_sim_task = px4_task_spawn_cmd("simulator",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1500,
Simulator::start,
argv);
while (true) {
if (Simulator::getInstance()) {
break;
} else {
system_usleep(100);
}
}
} else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
if (g_sim_task < 0) {
PX4_WARN("Simulator not running");
} else {
px4_task_delete(g_sim_task);
g_sim_task = -1;
}
} else {
usage();
return 1;
if (g_sim_task >= 0) {
PX4_WARN("Simulator already started");
return 0;
}
return 0;
g_sim_task = px4_task_spawn_cmd("simulator",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1500,
Simulator::start,
argv);
#if !defined(__PX4_QURT) && defined(ENABLE_LOCKSTEP_SCHEDULER)
// We want to prevent the rest of the startup script from running until time
// is initialized by the HIL_SENSOR messages from the simulator.
while (true) {
if (Simulator::getInstance() && Simulator::getInstance()->has_initialized()) {
break;
}
system_usleep(100);
}
#endif
} else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
if (g_sim_task < 0) {
PX4_WARN("Simulator not running");
return 1;
} else {
px4_task_delete(g_sim_task);
g_sim_task = -1;
}
} else {
usage();
return 1;
}
return 0;
}