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Code Issues Releases Activity

PiOS.posix | more attempts to fix it on win32

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1040 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-07-07 14:43:36 +00:00 committed by corvus
parent 5f6b3eb11a
commit f82783d77e
1 changed files with 37 additions and 22 deletions
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59
flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/corvuscorax/port_with-debugging-output.c
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@ -509,13 +509,13 @@ pthread_t xTaskToResume;
vTaskSwitchContext(); vTaskSwitchContext();
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() ); xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
hRequestedThread = xTaskToResume;
if ( xTaskToSuspend != xTaskToResume ) if ( xTaskToSuspend != xTaskToResume )
{ {
/* Remember and switch the critical nesting. */ /* Remember and switch the critical nesting. */
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting ); prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume ); uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
/* Switch tasks. */ /* Switch tasks. */
hRequestedThread = xTaskToResume;
prvResumeThread( xTaskToResume ); prvResumeThread( xTaskToResume );
//prvSuspendThread( xTaskToSuspend ); //prvSuspendThread( xTaskToSuspend );
if (prvGetThreadHandle(xTaskGetCurrentTaskHandle())!=xTaskToResume) { if (prvGetThreadHandle(xTaskGetCurrentTaskHandle())!=xTaskToResume) {
@ -634,31 +634,32 @@ struct timespec timeout;
vTaskSwitchContext(); vTaskSwitchContext();
#endif #endif
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() ); xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
hRequestedThread = xTaskToResume; //hRequestedThread = xTaskToResume;
/* The only thread that can process this tick is the running thread. */ /* The only thread that can process this tick is the running thread. */
if ( xTaskToSuspend != xTaskToResume ) if ( xTaskToSuspend != xTaskToResume )
{ {
/* Suspend the current task. */ /* Suspend the current task. */
hRequestedThread = 0;
prvSuspendThread( xTaskToSuspend ); prvSuspendThread( xTaskToSuspend );
timeout.tv_sec=0; timeout.tv_sec=0;
timeout.tv_nsec=10000; timeout.tv_nsec=10000;
//if ( 0 == pthread_mutex_timedlock( &xRunningThreadMutex,&timeout ) ) { while ( 0 != pthread_mutex_timedlock( &xRunningThreadMutex,&timeout ) ) {
if ( 0 == pthread_mutex_lock( &xRunningThreadMutex) ) { prvSuspendThread( xTaskToSuspend );
/* Remember and switch the critical nesting. */ timeout.tv_sec=0;
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting ); timeout.tv_nsec=10000;
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
/* Resume next task. */
prvResumeThread( xTaskToResume );
if (prvGetThreadHandle(xTaskGetCurrentTaskHandle())!=xTaskToResume) {
debug_printf("\n what the fuck???? someone else did a switchcontext?!?\n");
}
(void)pthread_mutex_unlock( &xRunningThreadMutex );
} else {
debug_printf("Oh dear - tick handler could not acquire lock!\n\n");
//prvResumeThread( xTaskToSuspend );
xGeneralFuckedUpIndicator=3;
} }
//if ( 0 == pthread_mutex_lock( &xRunningThreadMutex) ) {
/* Remember and switch the critical nesting. */
prvSetTaskCriticalNesting( xTaskToSuspend, uxCriticalNesting );
uxCriticalNesting = prvGetTaskCriticalNesting( xTaskToResume );
/* Resume next task. */
hRequestedThread = xTaskToResume;
prvResumeThread( xTaskToResume );
if (prvGetThreadHandle(xTaskGetCurrentTaskHandle())!=xTaskToResume) {
debug_printf("\n what the fuck???? someone else did a switchcontext?!?\n");
}
(void)pthread_mutex_unlock( &xRunningThreadMutex );
} }
else else
{ {
@ -1050,6 +1051,8 @@ struct tms xTimes;
*/ */
void prvResolveFuckup( void ) void prvResolveFuckup( void )
{ {
struct timespec timeout;
pthread_t xTaskToResume;
(void)pthread_mutex_lock ( &xSuspendResumeThreadMutex); (void)pthread_mutex_lock ( &xSuspendResumeThreadMutex);
if (hActiveThread == hRequestedThread) { if (hActiveThread == hRequestedThread) {
@ -1057,15 +1060,27 @@ void prvResolveFuckup( void )
return; return;
} }
printf("\nScheduler fucked up again - lets try to fix it...\n"); printf("\nScheduler fucked up again - lets try to fix it...\n");
if (hRequestedThread==0) {
printf("\nno supposedly active thread - fixing\n");
xTaskToResume = prvGetThreadHandle( xTaskGetCurrentTaskHandle() );
} else {
xTaskToResume = hRequestedThread;
}
printf("\nsending sig_suspend to thread that is supposed to be dead...\n"); printf("\nsending sig_suspend to thread that is supposed to be dead...\n");
prvSuspendThread(hActiveThread); prvSuspendThread(hActiveThread);
printf("\nacquire running lock...\n"); printf("\nacquire running lock...\n");
if ( 0 == pthread_mutex_lock( &xRunningThreadMutex) ) { timeout.tv_sec=0;
printf("\nsending sig_resume to thread that is supposed to be running...\n"); timeout.tv_nsec=10000;
prvResumeThread(hRequestedThread); while ( 0 != pthread_mutex_timedlock( &xRunningThreadMutex,&timeout ) ) {
printf("\ngiving up mutex...\n"); prvSuspendThread(hActiveThread);
(void)pthread_mutex_unlock(&xRunningThreadMutex); timeout.tv_sec=0;
timeout.tv_nsec=10000;
} }
printf("\nsending sig_resume to thread that is supposed to be running...\n");
prvResumeThread(xTaskToResume);
printf("\ngiving up mutex...\n");
(void)pthread_mutex_unlock(&xRunningThreadMutex);
(void)pthread_mutex_unlock ( &xSuspendResumeThreadMutex); (void)pthread_mutex_unlock ( &xSuspendResumeThreadMutex);
} }