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Code Issues Releases Activity

Much more stable on windows now

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1048 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-07-08 16:24:34 +00:00 committed by peabody124
parent cb9afef32d
commit 60fda40c42
2 changed files with 56 additions and 25 deletions
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80
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/peabody124/port-stupidlysimplerversion.c
View File

@ -100,6 +100,7 @@ typedef struct THREAD_SUSPENSIONS
static xThreadState *pxThreads;
static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT;
static pthread_attr_t xThreadAttributes;
static pthread_mutex_t xRunningThread = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t xSuspendResumeThreadMutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t xSingleThreadMutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_t hMainThread = ( pthread_t )NULL;
@ -379,6 +380,7 @@ portLONG lIndex;
x.tv_sec=0;
x.tv_nsec=1000000;
nanosleep(&x,NULL);
printf("."); fflush(stdout);
vPortSystemTickHandler(SIG_TICK);
}
@ -464,44 +466,49 @@ void vPortYield( void )
{
pthread_t xTaskToSuspend;
pthread_t xTaskToResume;
tskTCB * oldTask, * newTask;
sigset_t xSignals;
oldTask = xTaskGetCurrentTaskHandle();
xTaskToSuspend = prvGetThreadHandle( oldTask ); //xTaskGetCurrentTaskHandle() );
if(xTaskToSuspend != pthread_self() ) {
debug_printf( "The current task isn't even us, suspending and letting that task start\r\n" );
pauseThread();
return;
}
/* We must mask the suspend signal here, because otherwise there can be an */
/* interrupt while in pthread_mutex_lock and that will cause the next thread */
/* to deadlock when it tries to get this mutex */
sigemptyset( &xSignals );
sigaddset( &xSignals, SIG_SUSPEND );
pthread_sigmask( SIG_SETMASK, &xSignals, NULL );
assert( pthread_mutex_lock( &xSingleThreadMutex ) == 0);
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
if(xTaskToSuspend != pthread_self() ) {
/* This means between masking the interrupt and getting the lock, there was an interrupt */
/* and this task should suspend. Release the lock, then unmask interrupts to go ahead and */
/* service the signal */
assert( 0 == pthread_mutex_unlock( &xSingleThreadMutex ) );
debug_printf( "The current task isn't even us, letting interrupt happen\r\n" );
/* Now we are resuming, want to be able to catch this interrupt again */
sigemptyset( &xSignals );
pthread_sigmask( SIG_SETMASK, &xSignals, NULL);
return;
}
/* Get new task then release the task switching mutex */
vTaskSwitchContext();
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
assert( pthread_mutex_unlock( &xSingleThreadMutex ) == 0);
newTask = xTaskGetCurrentTaskHandle();
xTaskToResume = prvGetThreadHandle( newTask ) ; //xTaskGetCurrentTaskHandle() );
if ( prvGetThreadTask( pthread_self() ) != xTaskToResume )
if ( pthread_self() != xTaskToResume )
{
/* Remember and switch the critical nesting. */
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
assert( pthread_mutex_unlock( &xSingleThreadMutex ) == 0);
/* pausing self if switching tasks, can now rely on other thread waking itself up */
pauseThread();
/* Switch tasks. */
/* debug_printf( "Yielding %li: From %li(%s) to %li(%s)\r\n",(long int) pthread_self(), (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName);
prvSuspendThread( xTaskToSuspend );
debug_printf( "Yielded %li: From %li(%s) to %li(%s)\r\n",(long int) pthread_self(), (long int) xTaskToSuspend, oldTask->pcTaskName, (long int) xTaskToResume, newTask->pcTaskName); */
}
else
{
assert( pthread_mutex_unlock( &xSingleThreadMutex ) == 0);
}
/* Now we are resuming, want to be able to catch this interrupt again */
sigemptyset( &xSignals );
pthread_sigmask( SIG_SETMASK, &xSignals, NULL);
}
/*-----------------------------------------------------------*/
@ -676,8 +683,25 @@ void * pParams = pxParams->pvParams;
// wait for resume signal
debug_printf("Pausing newly created thread\r\n");
pauseThread();
// pthread_mutex_lock( &xRunningThread );
// pauseThread();
while (1) {
if( pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) )
{
// assert( 0 == pthread_mutex_lock( &xRunningThread ) );
break;
}
else {
struct timespec x;
x.tv_sec=0;
x.tv_nsec=100000;
nanosleep(&x,NULL);
sched_yield();
}
}
// no longer want to block any signals
sigemptyset( &xSignals );
assert( pthread_sigmask( SIG_SETMASK, &xSignals, NULL ) == 0);
@ -697,13 +721,17 @@ void pauseThread()
{
debug_printf("\r\n");
// assert( 0 == pthread_mutex_unlock( &xRunningThread ) );
while (1) {
if( pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) )
{
// assert( 0 == pthread_mutex_lock( &xRunningThread ) );
return;
}
else {
struct timespec x;
x.tv_sec=0;
x.tv_nsec=10000;
x.tv_nsec=100000;
nanosleep(&x,NULL);
sched_yield();
}
@ -714,6 +742,7 @@ void pauseThread()
pthread_mutex_t hMutex = prvGetThreadMutex( hTask );
// while( !shouldResume ) {
pthread_cond_wait( &hCond, &hMutex );
assert( 0 == pthread_mutex_lock( &xRunningThread ) );
// }
}
@ -724,6 +753,7 @@ sigset_t xBlockSignals;
debug_printf( "Caught signal %i\r\n", sig );
/* Check that we aren't suspending when we should be running. This bug would need tracking down */
//assert( pthread_self() != prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) );
if( pthread_self() == prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) ) return;
/* Block further suspend signals. They need to go to their thread */
sigemptyset( &xBlockSignals );

1
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/peabody124/port.c
View File

@ -98,6 +98,7 @@ typedef struct THREAD_SUSPENSIONS
static xThreadState *pxThreads;
static pthread_once_t hSigSetupThread = PTHREAD_ONCE_INIT;
static pthread_attr_t xThreadAttributes;
static pthread_mutex_t xRunningThreadMutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t xSuspendResumeThreadMutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t xSingleThreadMutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_t hMainThread = ( pthread_t )NULL;