Example #1
0
int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
{
	sem_t sem;
	int count = 0;
	int ret;
	unsigned int i;

	PX4_DEBUG("Called px4_poll timeout = %d", timeout);
	sem_init(&sem, 0, 0);

	// For each fd 
	for (i=0; i<nfds; ++i)
	{
		fds[i].sem     = &sem;
		fds[i].revents = 0;
		fds[i].priv    = NULL;

		// If fd is valid
		if (valid_fd(fds[i].fd))
		{
			VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
			PX4_DEBUG("px4_poll: VDev->poll(setup) %d", fds[i].fd);
			ret = dev->poll(filemap[fds[i].fd], &fds[i], true);

			if (ret < 0)
				break;
		}
	}

	if (ret >= 0)
	{
		if (timeout >= 0)
		{
			// Use a work queue task
			work_s _hpwork;

			hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)&sem, 1000*timeout);
			sem_wait(&sem);

			// Make sure timer thread is killed before sem goes
			// out of scope
			hrt_work_cancel(&_hpwork);
        	}
		else
		{
			sem_wait(&sem);
		}

		// For each fd 
		for (i=0; i<nfds; ++i)
		{
			// If fd is valid
			if (valid_fd(fds[i].fd))
			{
				VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
				PX4_DEBUG("px4_poll: VDev->poll(teardown) %d", fds[i].fd);
				ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
	
				if (ret < 0)
					break;

				if (fds[i].revents)
				count += 1;
			}
		}
	}

	sem_destroy(&sem);

	return count;
}
Example #2
0
int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
{
	sem_t sem;
	int count = 0;
	int ret;
	unsigned int i;
	struct timespec ts;

	PX4_DEBUG("Called px4_poll timeout = %d", timeout);
	sem_init(&sem, 0, 0);

	// For each fd 
	for (i=0; i<nfds; ++i)
	{
		fds[i].sem     = &sem;
		fds[i].revents = 0;
		fds[i].priv    = NULL;

		// If fd is valid
		if (valid_fd(fds[i].fd))
		{
			VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
			PX4_DEBUG("px4_poll: VDev->poll(setup) %d", fds[i].fd);
			ret = dev->poll(filemap[fds[i].fd], &fds[i], true);

			if (ret < 0)
				break;
		}
	}

	if (ret >= 0)
	{
		if (timeout >= 0)
		{
			pthread_t pt;
			void *res;

			ts.tv_sec = timeout/1000;
			ts.tv_nsec = (timeout % 1000)*1000000;

			// Create a timer to unblock
			struct timerData td(sem, ts);
			int rv = pthread_create(&pt, NULL, timer_handler, (void *)&td);
			if (rv != 0) {
				count = -1;
				goto cleanup;
			}
			sem_wait(&sem);

			// Make sure timer thread is killed before sem goes
			// out of scope
			(void)pthread_cancel(pt);
			(void)pthread_join(pt, &res);
        	}
		else
		{
			sem_wait(&sem);
		}

		// For each fd 
		for (i=0; i<nfds; ++i)
		{
			// If fd is valid
			if (valid_fd(fds[i].fd))
			{
				VDev *dev = (VDev *)(filemap[fds[i].fd]->vdev);;
				PX4_DEBUG("px4_poll: VDev->poll(teardown) %d", fds[i].fd);
				ret = dev->poll(filemap[fds[i].fd], &fds[i], false);
	
				if (ret < 0)
					break;

				if (fds[i].revents)
				count += 1;
			}
		}
	}

cleanup:
	sem_destroy(&sem);

	return count;
}
Example #3
0
	int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
	{
		if (nfds == 0) {
			PX4_WARN("px4_poll with no fds");
			return -1;
		}

		px4_sem_t sem;
		int count = 0;
		int ret = -1;
		unsigned int i;

		const unsigned NAMELEN = 32;
		char thread_name[NAMELEN] = {};
		int nret = pthread_getname_np(pthread_self(), thread_name, NAMELEN);

		if (nret || thread_name[0] == 0) {
			PX4_WARN("failed getting thread name");
		}

		PX4_DEBUG("Called px4_poll timeout = %d", timeout);
		px4_sem_init(&sem, 0, 0);

		// Go through all fds and check them for a pollable state
		bool fd_pollable = false;

		for (i = 0; i < nfds; ++i) {
			fds[i].sem     = &sem;
			fds[i].revents = 0;
			fds[i].priv    = NULL;

			VDev *dev = get_vdev(fds[i].fd);

			// If fd is valid
			if (dev) {
				PX4_DEBUG("%s: px4_poll: VDev->poll(setup) %d", thread_name, fds[i].fd);
				ret = dev->poll(filemap[fds[i].fd], &fds[i], true);

				if (ret < 0) {
					PX4_WARN("%s: px4_poll() error: %s",
						 thread_name, strerror(errno));
					break;
				}

				if (ret >= 0) {
					fd_pollable = true;
				}
			}
		}

		// If any FD can be polled, lock the semaphore and
		// check for new data
		if (fd_pollable) {
			if (timeout > 0) {

				// Get the current time
				struct timespec ts;
				px4_clock_gettime(CLOCK_REALTIME, &ts);

				// Calculate an absolute time in the future
				const unsigned billion = (1000 * 1000 * 1000);
				unsigned tdiff = timeout;
				uint64_t nsecs = ts.tv_nsec + (tdiff * 1000 * 1000);
				ts.tv_sec += nsecs / billion;
				nsecs -= (nsecs / billion) * billion;
				ts.tv_nsec = nsecs;

				// Execute a blocking wait for that time in the future
				errno = 0;
				ret = px4_sem_timedwait(&sem, &ts);
#ifndef __PX4_DARWIN
				ret = errno;
#endif

				// Ensure ret is negative on failure
				if (ret > 0) {
					ret = -ret;
				}

				if (ret && ret != -ETIMEDOUT) {
					PX4_WARN("%s: px4_poll() sem error", thread_name);
				}

			} else if (timeout < 0) {
				px4_sem_wait(&sem);
			}

			// We have waited now (or not, depending on timeout),
			// go through all fds and count how many have data
			for (i = 0; i < nfds; ++i) {

				VDev *dev = get_vdev(fds[i].fd);

				// If fd is valid
				if (dev) {
					PX4_DEBUG("%s: px4_poll: VDev->poll(teardown) %d", thread_name, fds[i].fd);
					ret = dev->poll(filemap[fds[i].fd], &fds[i], false);

					if (ret < 0) {
						PX4_WARN("%s: px4_poll() 2nd poll fail", thread_name);
						break;
					}

					if (fds[i].revents) {
						count += 1;
					}
				}
			}
		}

		px4_sem_destroy(&sem);

		// Return the positive count if present,
		// return the negative error number if failed
		return (count) ? count : ret;
	}