fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 07:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Move instance to new task context

Browse Source
This commit is contained in:
Lorenz Meier
2014-02-02 01:32:13 +01:00
parent 63b18399c2
commit c73fbca0eb
2 changed files with 18 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_main.cpp
+15 -18
View File
@@ -156,7 +156,7 @@ namespace mavlink
Mavlink *g_mavlink; Mavlink *g_mavlink;
} }
Mavlink::Mavlink(const char *port, unsigned baud_rate) : Mavlink::Mavlink() :
_task_should_exit(false), _task_should_exit(false),
_mavlink_task(-1), _mavlink_task(-1),
@@ -215,9 +215,9 @@ int Mavlink::instance_count()
return inst_index + 1; return inst_index + 1;
} }
Mavlink* Mavlink::new_instance(const char *port, unsigned baud_rate) Mavlink* Mavlink::new_instance()
{ {
Mavlink* inst = new Mavlink(port, baud_rate); Mavlink* inst = new Mavlink();
Mavlink* parent = ::_head; Mavlink* parent = ::_head;
while (parent->_next != nullptr) while (parent->_next != nullptr)
parent = parent->_next; parent = parent->_next;
@@ -1740,21 +1740,23 @@ Mavlink::task_main(int argc, char *argv[])
int Mavlink::start_helper(int argc, char *argv[]) int Mavlink::start_helper(int argc, char *argv[])
{ {
// This is beyond evil.. and needs a lock to be safe // Create the instance in task context
return Mavlink::get_instance(Mavlink::instance_count() - 1)->task_main(argc, argv); Mavlink *instance = Mavlink::new_instance();
// This will actually only return once MAVLink exits
return instance->task_main(argc, argv);
} }
int int
Mavlink::start(Mavlink* mavlink) Mavlink::start()
{ {
/* start the task */ /* start the task */
char buf[32]; char buf[32];
sprintf(buf, "mavlink if%d", Mavlink::instance_count()); sprintf(buf, "mavlink if%d", Mavlink::instance_count());
mavlink->_mavlink_task = task_spawn_cmd(buf, /*mavlink->_mavlink_task = */task_spawn_cmd(buf,
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5, SCHED_PRIORITY_DEFAULT,
2048, 2048,
(main_t)&Mavlink::start_helper, (main_t)&Mavlink::start_helper,
NULL); NULL);
@@ -1763,10 +1765,10 @@ Mavlink::start(Mavlink* mavlink)
// usleep(200); // usleep(200);
// } // }
if (mavlink->_mavlink_task < 0) { // if (mavlink->_mavlink_task < 0) {
warn("task start failed"); // warn("task start failed");
return -errno; // return -errno;
} // }
return OK; return OK;
} }
@@ -1790,13 +1792,8 @@ int mavlink_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) { if (!strcmp(argv[1], "start")) {
Mavlink *instance = Mavlink::new_instance("/dev/ttyS0", 57600);
if (mavlink::g_mavlink == nullptr)
mavlink::g_mavlink = instance;
// Instantiate thread // Instantiate thread
Mavlink::start(instance); Mavlink::start();
// if (mavlink::g_mavlink != nullptr) { // if (mavlink::g_mavlink != nullptr) {
// errx(1, "already running"); // errx(1, "already running");
src/modules/mavlink/mavlink_main.h
+3 -3
View File
@@ -143,7 +143,7 @@ public:
/** /**
* Constructor * Constructor
*/ */
Mavlink(const char *port, unsigned baud_rate); Mavlink();
/** /**
* Destructor, also kills the mavlinks task. * Destructor, also kills the mavlinks task.
@@ -155,7 +155,7 @@ public:
* *
* @return OK on success. * @return OK on success.
*/ */
static int start(Mavlink* mavlink); static int start();
/** /**
* Display the mavlink status. * Display the mavlink status.
@@ -164,7 +164,7 @@ public:
static int instance_count(); static int instance_count();
static Mavlink* new_instance(const char *port, unsigned baud_rate); static Mavlink* new_instance();
static Mavlink* get_instance(unsigned instance); static Mavlink* get_instance(unsigned instance);