bool DisplayMessageQueue_X11::process(int timeout_ms)
{
auto end_time = std::chrono::steady_clock::now() + std::chrono::milliseconds(timeout_ms);
while (true)
{
process_message();
process_queued_events(); // What is this? If its related to Event then it should be removed
process_window_sockets(); // Same for this thing
if (end_time <= std::chrono::steady_clock::now())
break;
int x11_handle = ConnectionNumber(display);
struct timeval tv;
if (timeout_ms > 0)
{
tv.tv_sec = timeout_ms / 1000;
tv.tv_usec = (timeout_ms % 1000) * 1000;
}
else if (timeout_ms == 0)
{
tv.tv_sec = 0;
tv.tv_usec = 0;
}
else
{
tv.tv_sec = 0x7FFFFFFF;
tv.tv_usec = 0;
}
fd_set rfds;
FD_ZERO(&rfds);
FD_SET(x11_handle, &rfds);
FD_SET(async_work_event.read_fd(), &rfds);
FD_SET(exit_event.read_fd(), &rfds);
int result = select(std::max(std::max(async_work_event.read_fd(), x11_handle), exit_event.read_fd()) + 1, &rfds, nullptr, nullptr, &tv);
if (result > 0)
{
if (FD_ISSET(async_work_event.read_fd(), &rfds))
{
async_work_event.reset();
process_async_work();
}
if (FD_ISSET(exit_event.read_fd(), &rfds))
{
exit_event.reset();
return false;
}
}
else
{
break;
}
}
return true;
}
void udb_run(void)
{
uint16_t currentTime;
uint16_t nextHeartbeatTime;
if (strlen(SILSIM_SERIAL_RC_INPUT_DEVICE) == 0) {
udb_pwIn[THROTTLE_INPUT_CHANNEL] = 2000;
udb_pwTrim[THROTTLE_INPUT_CHANNEL] = 2000;
}
nextHeartbeatTime = get_current_milliseconds();
while (1) {
if (!handleUDBSockets()) {
sleep_milliseconds(1);
}
currentTime = get_current_milliseconds();
if (currentTime >= nextHeartbeatTime && !(nextHeartbeatTime <= UDB_STEP_TIME && currentTime >= UDB_WRAP_TIME-UDB_STEP_TIME)) {
udb_callback_read_sensors();
udb_flags._.radio_on = (sil_radio_on && udb_pwIn[FAILSAFE_INPUT_CHANNEL] >= FAILSAFE_INPUT_MIN && udb_pwIn[FAILSAFE_INPUT_CHANNEL] <= FAILSAFE_INPUT_MAX);
LED_GREEN = (udb_flags._.radio_on) ? LED_ON : LED_OFF ;
if (udb_heartbeat_counter % 20 == 0) udb_background_callback_periodic(); // Run at 2Hz
udb_servo_callback_prepare_outputs();
sil_ui_update();
if (udb_heartbeat_counter % 80 == 0) writeEEPROMFileIfNeeded(); // Run at 0.5Hz
udb_heartbeat_counter++;
nextHeartbeatTime = nextHeartbeatTime + UDB_STEP_TIME;
if (nextHeartbeatTime > UDB_WRAP_TIME) nextHeartbeatTime -= UDB_WRAP_TIME;
}
process_queued_events();
}
}
void udb_run(void)
{
uint16_t currentTime;
static uint16_t nextHeartbeatTime;
if (!initialised)
{
initialised = 1;
if (strlen(SILSIM_SERIAL_RC_INPUT_DEVICE) == 0)
{
udb_pwIn[THROTTLE_INPUT_CHANNEL] = 2000;
udb_pwTrim[THROTTLE_INPUT_CHANNEL] = 2000;
}
nextHeartbeatTime = get_current_milliseconds();
}
// while (1) {
if (!handleUDBSockets())
{
sleep_milliseconds(1);
}
currentTime = get_current_milliseconds();
if (currentTime >= nextHeartbeatTime &&
!(nextHeartbeatTime <= UDB_STEP_TIME &&
currentTime >= UDB_WRAP_TIME-UDB_STEP_TIME))
{
udb_callback_read_sensors();
udb_flags._.radio_on = (sil_radio_on &&
udb_pwIn[FAILSAFE_INPUT_CHANNEL] >= FAILSAFE_INPUT_MIN &&
udb_pwIn[FAILSAFE_INPUT_CHANNEL] <= FAILSAFE_INPUT_MAX);
// LED_GREEN = (udb_flags._.radio_on) ? LED_ON : LED_OFF;
if (udb_flags._.radio_on)
{
led_on(LED_GREEN);
}
else
{
led_off(LED_GREEN);
}
udb_heartbeat_40hz_callback(); // Run at 40Hz
udb_heartbeat_callback(); // Run at HEARTBEAT_HZ
sil_ui_update();
// if (udb_heartbeat_counter % 80 == 0)
if (udb_heartbeat_counter % (2 * HEARTBEAT_HZ) == 0)
{
writeEEPROMFileIfNeeded(); // Run at 0.5Hz
}
udb_heartbeat_counter++;
nextHeartbeatTime = nextHeartbeatTime + UDB_STEP_TIME;
if (nextHeartbeatTime > UDB_WRAP_TIME) nextHeartbeatTime -= UDB_WRAP_TIME;
}
process_queued_events();
// }
}
int DisplayMessageQueue_X11::wait(const std::vector<Event> &events, int timeout)
{
process_queued_events();
int num_events = 0;
for (std::vector<Event>::size_type index_events = 0; index_events < events.size(); ++index_events)
{
bool flagged = events[index_events].get_event_provider()->check_before_wait();
if (flagged)
return index_events;
num_events += events[index_events].get_event_provider()->get_num_event_handles();
}
if (num_events == 0)
{
std::vector<SocketMessage_X11> empty_handles;
int result = msg_wait_for_multiple_objects(empty_handles, timeout);
if (result == 0) // X11 message found
{
process_message();
return events.size();
}
}
else
{
std::vector<SocketMessage_X11> handles;
for (std::vector<Event>::size_type index_events = 0; index_events < events.size(); ++index_events)
{
int num_handles = events[index_events].get_event_provider()->get_num_event_handles();
for (int i=0; i<num_handles; i++)
{
EventProvider *provider = events[index_events].get_event_provider();
if (provider == 0)
throw Exception("EventProvider is a null pointer!");
SocketMessage_X11 msg;
msg.handle = provider->get_event_handle(i);
msg.type = provider->get_event_type(i);
handles.push_back(msg);
}
}
while (true)
{
int index = msg_wait_for_multiple_objects(handles, timeout);
if (index < 0)
break;
if (index == num_events)
{
process_message();
return events.size();
}
for (std::vector<Event>::size_type index_events = 0; index_events < events.size(); ++index_events)
{
int num_handles = events[index_events].get_event_provider()->get_num_event_handles();
if (index < num_handles)
{
bool flagged = events[index_events].get_event_provider()->check_after_wait(index);
if (flagged)
return index_events;
break;
}
index -= num_handles;
}
}
}
return -1;
}
