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posix: HRT hrt_lock() sem_wait try again if error returned

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Daniel Agar
2022-04-09 18:45:49 -04:00
parent 10f927ae2b
commit 1d66f2cf83
4 changed files with 6 additions and 5 deletions
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platforms/common/work_queue/hrt_queue.c
+1 -1
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@@ -123,7 +123,7 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t del
work->qtime = hrt_absolute_time(); /* Time work queued */ work->qtime = hrt_absolute_time(); /* Time work queued */
//PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime); //PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime);
dq_addlast((dq_entry_t *)work, &wqueue->q); dq_addlast(&work->dq, &wqueue->q);
if (px4_getpid() != wqueue->pid) { /* only need to wake up if called from a different thread */ if (px4_getpid() != wqueue->pid) { /* only need to wake up if called from a different thread */
#ifdef __PX4_QURT #ifdef __PX4_QURT
platforms/common/work_queue/hrt_thread.c
+1 -1
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@@ -155,7 +155,7 @@ static void hrt_work_process()
if (elapsed >= work->delay) { if (elapsed >= work->delay) {
/* Remove the ready-to-execute work from the list */ /* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *) & (work->dq), &(wqueue->q)); (void)dq_rem((dq_entry_t *)&work->dq, &wqueue->q);
//PX4_INFO("Dequeued work=%p", work); //PX4_INFO("Dequeued work=%p", work);
/* Extract the work description from the entry (in case the work /* Extract the work description from the entry (in case the work
platforms/common/work_queue/hrt_work_cancel.c
+1 -1
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@@ -103,7 +103,7 @@ void hrt_work_cancel(struct work_s *work)
* mark as availalbe (i.e., the worker field is nullified). * mark as availalbe (i.e., the worker field is nullified).
*/ */
dq_rem((dq_entry_t *)work, &wqueue->q); dq_rem(&work->dq, &wqueue->q);
work->worker = NULL; work->worker = NULL;
} }
platforms/posix/src/px4/common/drv_hrt.cpp
+3 -2
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@@ -95,7 +95,8 @@ hrt_abstime hrt_absolute_time_offset()
static void hrt_lock() static void hrt_lock()
{ {
px4_sem_wait(&_hrt_lock); // loop as the wait may be interrupted by a signal
do {} while (px4_sem_wait(&_hrt_lock) != 0);
} }
static void hrt_unlock() static void hrt_unlock()
@@ -333,7 +334,7 @@ hrt_call_reschedule()
// Remove the existing expiry and update with the new expiry // Remove the existing expiry and update with the new expiry
hrt_work_cancel(&_hrt_work); hrt_work_cancel(&_hrt_work);
hrt_work_queue(&_hrt_work, (worker_t)&hrt_tim_isr, nullptr, delay); hrt_work_queue(&_hrt_work, &hrt_tim_isr, nullptr, delay);
} }
static void static void