C++ (Cpp) msg_t Examples

Example #1

File: uc_stm32_thread.cpp Project: BillTian/uavcan

/*
 * BusEvent
 */
bool BusEvent::wait(uavcan::MonotonicDuration duration)
{
    static const uavcan::int64_t MaxDelayMSec = 0x000FFFFF;

    const uavcan::int64_t msec = duration.toMSec();
    msg_t ret = msg_t();

    if (msec <= 0)
    {
# if (CH_KERNEL_MAJOR == 2)
        ret = sem_.waitTimeout(TIME_IMMEDIATE);
# else // ChibiOS 3
        ret = sem_.wait(TIME_IMMEDIATE);
# endif
    }
    else
    {
# if (CH_KERNEL_MAJOR == 2)
        ret = sem_.waitTimeout((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
# else // ChibiOS 3
        ret = sem_.wait((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
# endif
    }
# if (CH_KERNEL_MAJOR == 2)
    return ret == RDY_OK;
# else // ChibiOS 3
    return ret == MSG_OK;
# endif
}

Example #2

File: magnetometer.cpp Project: Joeychouchou/zubax_gnss

    msg_t main() override
    {
        zubax_chibios::watchdog::Timer wdt;
        wdt.startMSec(1000);
        setName("mag");

        ::usleep(500000);         // Startup delay
        wdt.reset();

        node::markComponentInitialized(node::ComponentID::Magnetometer);

        while (!tryInit() && !node::hasPendingRestartRequest())
        {
            setStatus(uavcan::protocol::NodeStatus::HEALTH_ERROR);
            lowsyslog("Mag init failed, will retry...\n");
            ::usleep(500000);
            wdt.reset();
        }

        wdt.reset();

        const float variance = param_variance.get();
        const uint64_t period_usec = param_period_usec.get();

        systime_t sleep_until = chibios_rt::System::getTime();

        while (!node::hasPendingRestartRequest())
        {
            sleep_until += US2ST(period_usec);

            float vector[3] = {0, 0, 0};
            if (tryRead(vector))
            {
                transformToNEDFrame(vector);
                publish(vector, variance);
                setStatus(estimateStatusFromMeasurement(vector));
            }
            else
            {
                setStatus(uavcan::protocol::NodeStatus::HEALTH_ERROR);
            }

            sysSleepUntilChTime(sleep_until);
            wdt.reset();
        }

        lowsyslog("Mag driver terminated\n");
        return msg_t();
    }

Example #3

File: async_linked_list_buffer.cpp Project: dailypips/Fenrir

		T get ()
		{
			if (this->first_node_ == nullptr)
				return msg_t();

			container<T>* item = this->first_node_;
			
			this->first_node_ = item->next_;

			this->llist_size--;

			T value = item->current_;

			delete item;

			return value;
		}

Example #4

File: uc_stm32_thread.cpp Project: STMPNGRND/libuavcan

/*
 * BusEvent
 */
bool BusEvent::wait(uavcan::MonotonicDuration duration)
{
    static const uavcan::int64_t MaxDelayMSec = 0x000FFFFF;

    const uavcan::int64_t msec = duration.toMSec();
    msg_t ret = msg_t();

    if (msec <= 0)
    {
        ret = sem_.waitTimeout(TIME_IMMEDIATE);
    }
    else
    {
        ret = sem_.waitTimeout((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
    }
    return ret == RDY_OK;
}