mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Finally, a fix for the Mac UAVTalk issues: it was all caused by a wrong RunLoop pointer reference
because of multithreading.
This commit is contained in:
Edouard Lafargue
parent
de8478718c
commit
6514ea5262
@ -37,8 +37,6 @@
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#if defined( Q_OS_MAC)
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#include <QTimer>
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// todo:
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#elif defined(Q_OS_UNIX)
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//#elif defined(Q_OS_LINUX)
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@ -106,16 +104,12 @@ public:
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signals:
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void deviceUnplugged(int);//just to make pips changes compile
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#if defined( Q_OS_MAC)
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public slots:
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void timeout_callback();
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#endif
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private:
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#if defined( Q_OS_MAC)
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int timeout_occurred;
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QTimer m_timer;
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#elif defined(Q_OS_UNIX)
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//#elif defined(Q_OS_LINUX)
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@ -46,6 +46,7 @@
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#include <QString>
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#include <QThread>
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#include <QTimer>
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#include <QCoreApplication>
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class delay : public QThread
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{
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@ -65,6 +66,8 @@ typedef struct hid_struct hid_t;
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typedef struct buffer_struct buffer_t;
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static hid_t *first_hid = NULL;
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static hid_t *last_hid = NULL;
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// Make sure we use the correct runloop
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CFRunLoopRef the_correct_runloop = NULL;
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struct hid_struct {
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IOHIDDeviceRef ref;
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int open;
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@ -88,6 +91,8 @@ static void attach_callback(void *, IOReturn, void *, IOHIDDeviceRef);
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static void detach_callback(void *, IOReturn, void *hid_mgr, IOHIDDeviceRef dev);
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static void input_callback(void *, IOReturn, void *, IOHIDReportType, uint32_t, uint8_t *, CFIndex);
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static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
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static void timeout_callback(CFRunLoopTimerRef, void *);
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pjrc_rawhid::pjrc_rawhid()
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{
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@ -119,8 +124,6 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
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hid_t *p;
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int count=0;
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connect(&m_timer, SIGNAL(timeout()), this, SLOT(timeout_callback()));
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if (first_hid) free_all_hid();
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//printf("pjrc_rawhid_open, max=%d\n", max);
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if (max < 1) return 0;
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@ -176,6 +179,8 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
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CFRelease(hid_manager);
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return 0;
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}
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// Set the run loop reference:
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the_correct_runloop = CFRunLoopGetCurrent();
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printf("run loop\n");
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// let it do the callback for all devices
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while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
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@ -195,54 +200,56 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
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//
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int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
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{
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hid_t *hid;
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buffer_t *b;
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int ret=0;
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hid_t *hid;
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buffer_t *b;
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CFRunLoopTimerRef timer=NULL;
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CFRunLoopTimerContext context;
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int ret=0, timeout_occurred=0;
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if (len < 1) return 0;
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hid = get_hid(num);
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if (!hid || !hid->open) return -1;
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if ((b = hid->first_buffer) != NULL) {
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if (len > b->len) len = b->len;
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memcpy(buf, b->buf, len);
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hid->first_buffer = b->next;
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free(b);
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//printf("packet already, returning before loop");
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return len;
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}
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if (len < 1) return 0;
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hid = get_hid(num);
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if (!hid || !hid->open) return -1;
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if ((b = hid->first_buffer) != NULL) {
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if (len > b->len) len = b->len;
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memcpy(buf, b->buf, len);
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hid->first_buffer = b->next;
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free(b);
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return len;
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}
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memset(&context, 0, sizeof(context));
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context.info = &timeout_occurred;
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timer = CFRunLoopTimerCreate(NULL, CFAbsoluteTimeGetCurrent() +
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(double)timeout / 1000.0, 0, 0, 0, timeout_callback, &context);
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CFRunLoopAddTimer(CFRunLoopGetCurrent(), timer, kCFRunLoopDefaultMode);
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the_correct_runloop = CFRunLoopGetCurrent();
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//qDebug("--");
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while (1) {
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//qDebug(".");
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CFRunLoopRun(); // Found the problem: somehow the input_callback does not
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// stop this CFRunLoopRun because it is hooked to a different run loop !!!
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// Hence the use of the "correct_runloop" variable above.
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//qDebug(" ..");
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// This does not work while in a "while" loop!! Come on...
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// BEWARE: this area is broken.
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// We need a way (probably thread?) to wait for USB data
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// while also accepting a timeout.
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timeout_occurred = 1;
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m_timer.start(timeout);
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while (true) {
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// CFRunLoopRun does not work properly with Qt's event loop...
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CFRunLoopRun();
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printf(".");
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delay::msleep(20);
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if ((b = hid->first_buffer) != NULL) {
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if (len > b->len) len = b->len;
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memcpy(buf, b->buf, len);
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hid->first_buffer = b->next;
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free(b);
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ret = len;
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// printf("got packet, exit waiting loop with %i bytes",ret);
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if ((b = hid->first_buffer) != NULL) {
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if (len > b->len) len = b->len;
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memcpy(buf, b->buf, len);
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hid->first_buffer = b->next;
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free(b);
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ret = len;
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//qDebug("*************");
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break;
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}
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if (!hid->open) {
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printf("pjrc_rawhid_recv, device not open\n");
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ret = -1;
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break;
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}
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if (timeout_occurred)
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break;
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}
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if (!hid->open) {
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printf("pjrc_rawhid_recv, device not open\n");
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ret = -1;
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break;
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}
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if (timeout_occurred) {
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qDebug("Timeout while waiting for packet");
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break;
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}
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}
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m_timer.stop();
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return ret;
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}
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CFRunLoopTimerInvalidate(timer);
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CFRelease(timer);
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return ret;
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}
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// send - send a packet
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@ -354,7 +361,7 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
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buffer_t *n;
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hid_t *hid;
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//printf("input_callback, ret: %i - report id: %i buf: %x %x, len: %d\n", ret, id, data[0], data[1], len);
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//qDebug("input_callback, ret: %i - report id: %i buf: %x %x, len: %d\n", ret, id, data[0], data[1], len);
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if (ret != kIOReturnSuccess || len < 1) return;
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hid = (hid_t*)context;
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if (!hid || hid->ref != sender) return;
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@ -372,13 +379,16 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
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hid->last_buffer->next = n;
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hid->last_buffer = n;
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}
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CFRunLoopStop(CFRunLoopGetCurrent());
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//qDebug() << "Stop CFRunLoop from input_callback" << CFRunLoopGetCurrent();
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CFRunLoopStop(the_correct_runloop);
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}
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void pjrc_rawhid::timeout_callback()
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static void timeout_callback(CFRunLoopTimerRef timer, void *info)
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{
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qDebug("[pjrc_rawhid_mac] timeout_callback");
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timeout_occurred = 1;
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//qDebug("timeout_callback\n");
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*(int *)info = 1;
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//qDebug() << "Stop CFRunLoop from timeout_callback" << CFRunLoopGetCurrent();
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CFRunLoopStop(CFRunLoopGetCurrent());
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}
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static void add_hid(hid_t *h)
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