fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 03:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Revert "UAVCAN performance audit (#6829)" (#6846)

Browse Source 
This reverts commit 21e04c9f7a.
This commit is contained in:
David Sidrane
2017-03-18 04:04:43 -10:00
committed by GitHub
parent 21e04c9f7a
commit c20b85e6ad
9 changed files with 36 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uavcan/uavcan_main.cpp
+24
View File
@@ -110,6 +110,18 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
}
/* _server_command_sem use case is a signal */
px4_sem_setprotocol(&_server_command_sem, SEM_PRIO_NONE);
if (_perfcnt_node_spin_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_node_spin_elapsed");
}
if (_perfcnt_esc_mixer_output_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_output_elapsed");
}
if (_perfcnt_esc_mixer_total_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_total_elapsed");
}
}
UavcanNode::~UavcanNode()
@@ -152,6 +164,9 @@ UavcanNode::~UavcanNode()
_instance = nullptr;
perf_free(_perfcnt_node_spin_elapsed);
perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed);
pthread_mutex_destroy(&_node_mutex);
px4_sem_destroy(&_server_command_sem);
@@ -682,6 +697,7 @@ int UavcanNode::init(uavcan::NodeID node_id)
void UavcanNode::node_spin_once()
{
perf_begin(_perfcnt_node_spin_elapsed);
const int spin_res = _node.spinOnce();
if (spin_res < 0) {
@@ -692,6 +708,8 @@ void UavcanNode::node_spin_once()
if (_tx_injector != nullptr) {
_tx_injector->injectTxFramesInto(_node);
}
perf_end(_perfcnt_node_spin_elapsed);
}
/*
@@ -850,8 +868,12 @@ int UavcanNode::run()
// Mutex is unlocked while the thread is blocked on IO multiplexing
(void)pthread_mutex_unlock(&_node_mutex);
perf_end(_perfcnt_esc_mixer_total_elapsed); // end goes first, it's not a mistake
const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
perf_begin(_perfcnt_esc_mixer_total_elapsed);
(void)pthread_mutex_lock(&_node_mutex);
node_spin_once(); // Non-blocking
@@ -943,7 +965,9 @@ int UavcanNode::run()
// Output to the bus
_outputs.timestamp = hrt_absolute_time();
perf_begin(_perfcnt_esc_mixer_output_elapsed);
_esc_controller.update_outputs(_outputs.output, _outputs.noutputs);
perf_end(_perfcnt_esc_mixer_output_elapsed);
}