fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 05:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

UAVCAN: Move to semaphore abstraction

Browse Source
This commit is contained in:
Lorenz Meier
2015-09-20 00:30:12 +02:00
parent 3599b577df
commit f37f8fb977
3 changed files with 9 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uavcan/uavcan_main.cpp
+7 -7
View File
@@ -94,7 +94,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
std::abort(); std::abort();
} }
res = sem_init(&_server_command_sem, 0 , 0); res = px4_sem_init(&_server_command_sem, 0 , 0);
if (res < 0) { if (res < 0) {
std::abort(); std::abort();
@@ -158,7 +158,7 @@ UavcanNode::~UavcanNode()
perf_free(_perfcnt_esc_mixer_output_elapsed); perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed); perf_free(_perfcnt_esc_mixer_total_elapsed);
pthread_mutex_destroy(&_node_mutex); pthread_mutex_destroy(&_node_mutex);
sem_destroy(&_server_command_sem); px4_sem_destroy(&_server_command_sem);
} }
@@ -208,7 +208,7 @@ int UavcanNode::start_fw_server()
} }
_fw_server_action = None; _fw_server_action = None;
sem_post(&_server_command_sem); px4_sem_post(&_server_command_sem);
return rv; return rv;
} }
@@ -224,7 +224,7 @@ int UavcanNode::request_fw_check()
} }
_fw_server_action = None; _fw_server_action = None;
sem_post(&_server_command_sem); px4_sem_post(&_server_command_sem);
return rv; return rv;
} }
@@ -248,7 +248,7 @@ int UavcanNode::stop_fw_server()
} }
_fw_server_action = None; _fw_server_action = None;
sem_post(&_server_command_sem); px4_sem_post(&_server_command_sem);
return rv; return rv;
} }
@@ -263,7 +263,7 @@ int UavcanNode::fw_server(eServerAction action)
case CheckFW: case CheckFW:
if (_fw_server_action == None) { if (_fw_server_action == None) {
_fw_server_action = action; _fw_server_action = action;
sem_wait(&_server_command_sem); px4_sem_wait(&_server_command_sem);
rv = _fw_server_status; rv = _fw_server_status;
} }
@@ -678,7 +678,7 @@ UavcanNode::control_callback(uintptr_t handle, uint8_t control_group, uint8_t co
int int
UavcanNode::teardown() UavcanNode::teardown()
{ {
sem_post(&_server_command_sem); px4_sem_post(&_server_command_sem);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) { if (_control_subs[i] > 0) {
src/modules/uavcan/uavcan_main.hpp
+1 -1
View File
@@ -148,7 +148,7 @@ private:
Node _node; ///< library instance Node _node; ///< library instance
pthread_mutex_t _node_mutex; pthread_mutex_t _node_mutex;
sem_t _server_command_sem; px4_sem_t _server_command_sem;
UavcanEscController _esc_controller; UavcanEscController _esc_controller;
List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges
src/modules/uavcan/uavcan_virtual_can_driver.hpp
+1 -1
View File
@@ -395,7 +395,7 @@ class VirtualCanDriver : public uavcan::ICanDriver,
int rv = sem_getvalue(&sem, &count); int rv = sem_getvalue(&sem, &count);
if (rv > 0 && count <= 0) { if (rv > 0 && count <= 0) {
sem_post(&sem); px4_sem_post(&sem);
} }
} }
}; };