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ModuleBase: allow configurable timeout for wait_until_running()

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Beat Küng 2021-07-02 11:28:09 +02:00 committed by Lorenz Meier
parent cf524cd2c9
commit 9b7170551c
1 changed files with 4 additions and 5 deletions
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9
platforms/common/include/px4_platform_common/module.h
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@ -362,17 +362,16 @@ protected:
* @brief Waits until _object is initialized, (from the new thread). This can be called from task_spawn().
* @return Returns 0 iff successful, -1 on timeout or otherwise.
*/
static int wait_until_running()
static int wait_until_running(int timeout_ms = 1000)
{
int i = 0;
do {
/* Wait up to 1s. */
px4_usleep(2500);
px4_usleep(2000);
} while (!_object.load() && ++i < 400);
} while (!_object.load() && ++i < timeout_ms / 2);
if (i == 400) {
if (i >= timeout_ms / 2) {
PX4_ERR("Timed out while waiting for thread to start");
return -1;
}