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Code Issues Releases Activity

Ground/rawhid: Add mutexs between write and read from buffersi. Fix bug that

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dropped some data by reading too much from buffers at variable rates.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2002 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-24 01:35:28 +00:00 committed by peabody124
parent 523b6ad8f7
commit 488ae158c8
1 changed files with 15 additions and 11 deletions
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26
ground/src/plugins/rawhid/rawhid.cpp
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@ -152,6 +152,7 @@ void RawHIDReadThread::run()
// Note: Preprocess the USB packets in this OS independent code
// First byte is report ID, second byte is the number of valid bytes
m_readBuffer.append(&buffer[2], buffer[1]);
qDebug() << buffer[1];
m_readBufMtx.unlock();
emit m_hid->readyRead();
@ -208,7 +209,6 @@ void RawHIDWriteThread::run()
{
char buffer[WRITE_SIZE] = {0};
m_writeBufMtx.lock();
int size = qMin(WRITE_SIZE-2, m_writeBuffer.size());
while(size <= 0)
{
@ -217,27 +217,28 @@ void RawHIDWriteThread::run()
m_newDataToWrite.wait(&m_writeBufMtx, 200);
if(!m_running)
return;
else
size = qMin(WRITE_SIZE-2, m_writeBuffer.size());
//NOTE: data size is limited to 2 bytes less than the
//usb packet size (64 bytes for interrupt) to make room
//for the reportID and valid data length
size = m_writeBuffer.size();
}
//make a temporary copy so we don't need to lock the mutex
//during actual device access
//NOTE: data size is limited to 2 bytes less than the
//usb packet size (64 bytes for interrupt) to make room
//for the reportID and valid data length
m_writeBufMtx.lock();
size = qMin(WRITE_SIZE-2, m_writeBuffer.size());
memcpy(&buffer[2], m_writeBuffer.constData(), size);
buffer[1] = size; //valid data length
buffer[0] = 2; //reportID
m_writeBufMtx.unlock();
// must hold lock through the send to know how much was sent
int ret = hiddev->send(hidno, buffer, WRITE_SIZE, WRITE_TIMEOUT);
if(ret > 0)
{
//only remove the size actually written to the device
//only remove the size actually written to the device
m_writeBufMtx.lock();
m_writeBuffer.remove(0, ret - 2);
m_writeBuffer.remove(0, size);
m_writeBufMtx.unlock();
emit m_hid->bytesWritten(ret - 2);
@ -251,16 +252,19 @@ void RawHIDWriteThread::run()
else
{
qDebug() << "No data written to device ??";
m_writeBufMtx.unlock();
}
}
}
int RawHIDWriteThread::pushDataToWrite(const char *data, int size)
{
//QMutexLocker lock(&m_writeBufMtx);
QMutexLocker lock(&m_writeBufMtx);
m_writeBuffer.append(data, size);
m_newDataToWrite.wakeOne(); //signal that new data arrived
return size;
}