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Code Issues Releases Activity

OP-1218 locks SendBuffer under the same mutex as SendBufferNonBlocking

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This commit is contained in:
Alessio Morale 2014-02-09 19:57:05 +01:00
parent 590c27af29
commit 79b68ae886
1 changed files with 56 additions and 41 deletions
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97
flight/pios/common/pios_com.c
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@ -271,6 +271,40 @@ int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud)
return 0;
}
static int32_t PIOS_COM_SendBufferNonBlockingInternal(struct pios_com_dev *com_dev, const uint8_t *buffer, uint16_t len)
{
PIOS_Assert(com_dev);
PIOS_Assert(com_dev->has_tx);
if (com_dev->driver->available && !com_dev->driver->available(com_dev->lower_id)) {
/*
* Underlying device is down/unconnected.
* Dump our fifo contents and act like an infinite data sink.
* Failure to do this results in stale data in the fifo as well as
* possibly having the caller block trying to send to a device that's
* no longer accepting data.
*/
fifoBuf_clearData(&com_dev->tx);
return len;
}
if (len > fifoBuf_getFree(&com_dev->tx)) {
/* Buffer cannot accept all requested bytes (retry) */
return -2;
}
uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->tx, buffer, len);
if (bytes_into_fifo > 0) {
/* More data has been put in the tx buffer, make sure the tx is started */
if (com_dev->driver->tx_start) {
com_dev->driver->tx_start(com_dev->lower_id,
fifoBuf_getUsed(&com_dev->tx));
}
}
return bytes_into_fifo;
}
/**
* Sends a package over given port
* \param[in] port COM port
@ -291,51 +325,19 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
/* Undefined COM port for this board (see pios_board.c) */
return -1;
}
PIOS_Assert(com_dev->has_tx);
#if defined(PIOS_INCLUDE_FREERTOS)
if(xSemaphoreTake(com_dev->sendbuffer_sem, 0) != pdTRUE){
if (xSemaphoreTake(com_dev->sendbuffer_sem, 0) != pdTRUE) {
return -3;
}
#endif /* PIOS_INCLUDE_FREERTOS */
if (com_dev->driver->available && !com_dev->driver->available(com_dev->lower_id)) {
/*
* Underlying device is down/unconnected.
* Dump our fifo contents and act like an infinite data sink.
* Failure to do this results in stale data in the fifo as well as
* possibly having the caller block trying to send to a device that's
* no longer accepting data.
*/
fifoBuf_clearData(&com_dev->tx);
int32_t ret = PIOS_COM_SendBufferNonBlockingInternal(com_dev, buffer, len);
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGive(com_dev->sendbuffer_sem);
xSemaphoreGive(com_dev->sendbuffer_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
return len;
}
if (len > fifoBuf_getFree(&com_dev->tx)) {
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGive(com_dev->sendbuffer_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
/* Buffer cannot accept all requested bytes (retry) */
return -2;
}
uint16_t bytes_into_fifo = fifoBuf_putData(&com_dev->tx, buffer, len);
if (bytes_into_fifo > 0) {
/* More data has been put in the tx buffer, make sure the tx is started */
if (com_dev->driver->tx_start) {
com_dev->driver->tx_start(com_dev->lower_id,
fifoBuf_getUsed(&com_dev->tx));
}
}
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGive(com_dev->sendbuffer_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
return bytes_into_fifo;
return ret;
}
/**
* Sends a package over given port
* (blocking function)
@ -343,6 +345,7 @@ int32_t PIOS_COM_SendBufferNonBlocking(uint32_t com_id, const uint8_t *buffer, u
* \param[in] buffer character buffer
* \param[in] len buffer length
* \return -1 if port not available
* \return -2 if mutex can't be taken;
* \return number of bytes transmitted on success
*/
int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len)
@ -353,9 +356,12 @@ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len
/* Undefined COM port for this board (see pios_board.c) */
return -1;
}
PIOS_Assert(com_dev->has_tx);
#if defined(PIOS_INCLUDE_FREERTOS)
if (xSemaphoreTake(com_dev->sendbuffer_sem, 0) != pdTRUE) {
return -2;
}
#endif /* PIOS_INCLUDE_FREERTOS */
uint32_t max_frag_len = fifoBuf_getSize(&com_dev->tx);
uint32_t bytes_to_send = len;
while (bytes_to_send) {
@ -366,13 +372,16 @@ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len
} else {
frag_size = bytes_to_send;
}
int32_t rc = PIOS_COM_SendBufferNonBlocking(com_id, buffer, frag_size);
int32_t rc = PIOS_COM_SendBufferNonBlockingInternal(com_dev, buffer, frag_size);
if (rc >= 0) {
bytes_to_send -= rc;
buffer += rc;
} else {
switch (rc) {
case -1:
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGive(com_dev->sendbuffer_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
/* Device is invalid, this will never work */
return -1;
@ -385,17 +394,23 @@ int32_t PIOS_COM_SendBuffer(uint32_t com_id, const uint8_t *buffer, uint16_t len
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (xSemaphoreTake(com_dev->tx_sem, 5000) != pdTRUE) {
xSemaphoreGive(com_dev->sendbuffer_sem);
return -3;
}
#endif
continue;
default:
/* Unhandled return code */
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGive(com_dev->sendbuffer_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
return rc;
}
}
}
#if defined(PIOS_INCLUDE_FREERTOS)
xSemaphoreGive(com_dev->sendbuffer_sem);
#endif /* PIOS_INCLUDE_FREERTOS */
return len;
}