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Code Issues Releases Activity

Make pios_tcp uses two threads - one for the socket stuff and another within

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FreeRTOS to receive the data.
This commit is contained in:
James Cotton 2012-03-13 20:40:55 -05:00
parent 75262b400a
commit c1726e30e5
1 changed files with 37 additions and 16 deletions
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53
flight/PiOS.osx/osx/pios_tcp.c
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@ -74,7 +74,34 @@ static pios_tcp_dev * find_tcp_dev_by_id (uint8_t tcp)
/**
* RxThread
*/
void * PIOS_TCP_RxThread(void *tcp_dev_n)
static void PIOS_TCP_RxTask(void *tcp_dev_n)
{
bool rx_need_yield;
pios_tcp_dev *tcp_dev = (pios_tcp_dev *) tcp_dev_n;
while(1) {
if (tcp_dev->received) {
if (tcp_dev->rx_in_cb) {
(void) (tcp_dev->rx_in_cb)(tcp_dev->rx_in_context, &tcp_dev->rx_buffer[0], tcp_dev->received, NULL, &rx_need_yield);
tcp_dev->received = 0;
}
//fprintf(stderr, "Received %d\n", received);
#if defined(PIOS_INCLUDE_FREERTOS)
// Not sure about this
if (rx_need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
vTaskDelay(1);
}
}
}
static void *PIOS_TCP_RxThread(void *tcp_dev_n)
{
/* needed because of FreeRTOS.posix scheduling */
@ -99,22 +126,15 @@ void * PIOS_TCP_RxThread(void *tcp_dev_n)
fprintf(stderr, "Connection accepted\n");
bool rx_need_yield;
int received;
do {
received = read(tcp_dev->socket_connection, &tcp_dev->rx_buffer[0], PIOS_UDP_RX_BUFFER_SIZE);
if (tcp_dev->received == 0) {
// Received is used to track the scoket whereas the dev variable is only updated when it can be
received = read(tcp_dev->socket_connection, &tcp_dev->rx_buffer[0], PIOS_UDP_RX_BUFFER_SIZE);
tcp_dev->received = received;
} else
usleep(1);
if (tcp_dev->rx_in_cb) {
(void) (tcp_dev->rx_in_cb)(tcp_dev->rx_in_context, &tcp_dev->rx_buffer[0], received, NULL, &rx_need_yield);
}
//fprintf(stderr, "Received %d\n", received);
#if defined(PIOS_INCLUDE_FREERTOS)
// Not sure about this
if (rx_need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
} while(received > 0);
if (-1 == shutdown(tcp_dev->socket_connection, SHUT_RDWR))
@ -132,6 +152,7 @@ void * PIOS_TCP_RxThread(void *tcp_dev_n)
/**
* Open UDP socket
*/
xTaskHandle tcpRxTaskHandle;
int32_t PIOS_TCP_Init(uint32_t *tcp_id, const struct pios_tcp_cfg * cfg)
{
@ -164,8 +185,9 @@ int32_t PIOS_TCP_Init(uint32_t *tcp_id, const struct pios_tcp_cfg * cfg)
exit(EXIT_FAILURE);
}
/* Create transmit thread for this connection */
pthread_create(&tcp_dev->rxThread, NULL, PIOS_TCP_RxThread, (void*)tcp_dev);
xTaskCreate(PIOS_TCP_RxTask, (signed char *)"TcpRx", 1024, (void*)tcp_dev, 2, &tcpRxTaskHandle);
printf("udp dev %i - socket %i opened - result %i\n",pios_tcp_num_devices-1,tcp_dev->socket,res);
@ -224,7 +246,6 @@ static void PIOS_TCP_TxStart(uint32_t tcp_id, uint16_t tx_bytes_avail)
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
}