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Added some comment lines for peabody124 to read ;)

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1078 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-07-12 17:15:00 +00:00 committed by corvus
parent 21b93eaf7b
commit 65d0c93680
1 changed files with 17 additions and 0 deletions
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17
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
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@ -340,6 +340,7 @@ void vPortStartFirstTask( void )
/* Start the first task. */
#ifdef COND_SIGNALING
pthread_cond_t * hCond = prvGetConditionHandle( xTaskGetCurrentTaskHandle() );
// careful! race condition? if u mutex lock here, could u start the tick handler more early?
assert( pthread_cond_signal( hCond ) == 0 );
#endif
}
@ -414,6 +415,9 @@ portLONG lIndex;
x.tv_sec=0;
x.tv_nsec=portTICK_RATE_MICROSECONDS * 1000;
nanosleep(&x,NULL);
// careful - on some systems a signal to ANY thread in the process will
// end nanosleeps immediately - better sleep with pselect() and set the
// wakeup sigmask to all blocked (see test_case_x_pselect.c)
// printf("."); fflush(stdout);
vPortSystemTickHandler(SIG_TICK);
// printf("*"); fflush(stdout);
@ -475,6 +479,7 @@ void vPortExitCritical( void )
/* Check for unmatched exits. */
if ( uxCriticalNesting > 0 )
{
// careful - race condition possible?
uxCriticalNesting--;
}
@ -513,6 +518,7 @@ tskTCB * oldTask, * newTask;
oldTask = xTaskGetCurrentTaskHandle();
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
// careful! race condition!!!! unprotected by mutex
retVal = pthread_mutex_trylock( &xSwappingThreadMutex );
while( retVal != 0 ) {
@ -525,8 +531,10 @@ tskTCB * oldTask, * newTask;
debug_printf( "Waiting to get swapping mutex from ISR\r\n" );
xTaskToSuspend = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
// careful! race condition!!!! unprotected by mutex
if( prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) != pthread_self() ) {
// careful! race condition!!!! unprotected by mutex
debug_printf( "The current task isn't even us. Pausing now, deal with possible interrupt later.\r\n" );
pauseThread( THREAD_PAUSE_YIELD );
@ -580,6 +588,7 @@ tskTCB * oldTask, * newTask;
#ifdef CHECK_TASK_RESUMES
while( xStarted == pdFALSE )
debug_printf( "Waiting for task to resume\r\n" );
// careful! needs sched_yield()!!!
#endif
debug_printf( "Detected task resuming. Pausing this task\r\n" );
@ -737,6 +746,9 @@ portBASE_TYPE xResult;
printf("vPortForciblyEndThread\r\n");
if ( 0 == pthread_mutex_lock( &xSwappingThreadMutex ) )
// careful! windows bug - this thread won't be suspendable while waiting for mutex!
// so tick handler will wait forever for this thread to go to sleep
// might want to put a try_lock() - sched_yield() loop when on cygwin!
{
xTaskToDelete = prvGetThreadHandle( hTaskToDelete );
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
@ -765,6 +777,8 @@ portBASE_TYPE xResult;
/* Resume the other thread. */
/* Assert zero - I never fixed this functionality */
assert( 0 );
// careful! will be hit every time a thread exits itself gracefully - better fix this, we might need
// it
/* Pthread Clean-up function will note the cancellation. */
/* Release the execution. */
@ -851,6 +865,7 @@ void pauseThread( portBASE_TYPE pauseMode )
while (1) {
if( pthread_self() == prvGetThreadHandle(xTaskGetCurrentTaskHandle() ) && xRunning )
// careful! race condition!!!! possibly unprotected by mutex when CHECK_TASK_RESUMES is not set?
{
xStarted = pdTRUE;
@ -897,6 +912,7 @@ sigset_t xBlockSignals;
/* This would seem like a major bug, but can happen because now we send extra suspend signals */
/* if they aren't caught */
if( pthread_self() == prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) ) {
// careful! race condition? Or does the tick handler wait for us to sleep before unlocking?
debug_printf( "Marked as current task, resuming\r\n" );
return;
}
@ -912,6 +928,7 @@ sigset_t xBlockSignals;
assert( pthread_sigmask( SIG_SETMASK, &xBlockSignals, NULL ) == 0);
while( pthread_self() != prvGetThreadHandle( xTaskGetCurrentTaskHandle() ) )
// careful! race condition? could a port_yield mess with this?
{
debug_printf( "Incorrectly woke up. Repausing\r\n" );
pauseThread( THREAD_PAUSE_INTERRUPT );