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;
}
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;
}
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;
}