/**
* Wakes up the thread to do work, calls tick().
*/
void Trigger() {
const ScopeLock lock(mutex);
if (!trigger_flag) {
trigger_flag = true;
trigger_cond.signal();
}
}
void PendingChecks::runChecks()
{
DynMutex::Guard guard = m_mutex.lock();
Checks::iterator it = m_checks.begin();
bool removed = false;
while (it != m_checks.end()) {
bool cont;
try {
cont = (**it)();
} catch (...) {
Exception::handle(HANDLE_EXCEPTION_FATAL);
// keep compiler happy
cont = false;
}
if (!cont) {
// Done with this check
Checks::iterator next = it;
++next;
m_checks.erase(it);
it = next;
removed = true;
} else {
++it;
}
}
// Tell blockOnCheck() calls that they may have completed.
if (removed) {
m_cond.signal();
}
}
void Cancel() {
const ScopeLock lock(mutex);
if (!cancel_flag) {
cancel_flag = true;
cancel_cond.signal();
}
}
void leave() const
{
Lock lock(mutex);
assert(refcnt > 0);
assert(pthread_equal(holder, pthread_self()) != 0);
refcnt--;
if (refcnt == 0)
{
cond.signal();
}
}
void TriggerDone() {
assert(mutex.IsLockedByCurrent());
cond.signal();
}
void TriggerCommand() {
assert(mutex.IsLockedByCurrent());
cond.signal();
}
/**
* Triggers thread shutdown. Call Thread::Join() after this to wait
* synchronously for the thread to exit.
*/
void BeginStop() {
const ScopeLock lock(mutex);
SuspensibleThread::_BeginStop();
trigger_cond.signal();
}
/**
* Like BeginSuspend(), but expects the mutex to be locked already.
*/
void _BeginSuspend() {
SuspensibleThread::_BeginSuspend();
trigger_cond.signal();
}
bool
KRT2Device::DataReceived(const void *_data, size_t length,
struct NMEAInfo &info)
{
assert(_data != nullptr);
assert(length > 0);
const uint8_t *data = (const uint8_t *)_data;
const uint8_t *end = data + length;
do {
// Append new data to the buffer, as much as fits in there
auto range = rx_buf.Write();
if (rx_buf.IsFull()) {
// Overflow: reset buffer to recover quickly
rx_buf.Clear();
expected_msg_length = 0;
continue;
}
size_t nbytes = std::min(range.size, size_t(end - data));
memcpy(range.data, data, nbytes);
data += nbytes;
rx_buf.Append(nbytes);
for (;;) {
// Read data from buffer to handle the messages
range = rx_buf.Read();
if (range.IsEmpty())
break;
if (range.size < expected_msg_length)
break;
expected_msg_length = ExpectedMsgLength(range.data, range.size);
if (range.size >= expected_msg_length) {
switch (*(const uint8_t *) range.data) {
case ACK:
case NAK:
// Received a response to a normal command (STX)
response_mutex.Lock();
response = *(const uint8_t *) range.data;
// Signal the response to the TX thread
rx_cond.signal();
response_mutex.Unlock();
break;
default:
// Received a command from the radio -> ignore it
break;
}
// Message handled -> remove message
rx_buf.Consume(expected_msg_length);
expected_msg_length = 0;
// Received something from the radio -> the connection is alive
info.alive.Update(info.clock);
}
}
} while (data < end);
return true;
}
