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switch the modules implementing the block structure to px4_poll such that in posix_sitl simulation the poll works as expected, blocks the module and doesn't overload the CPU

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This commit is contained in:
MaEtUgR
2016-03-09 09:38:32 +01:00
parent 613ec40d86
commit 4f29c7c4db
4 changed files with 6 additions and 4 deletions
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2
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
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@@ -221,7 +221,7 @@ void BlockLocalPositionEstimator::update()
{ {
// wait for a sensor update, check for exit condition every 100 ms // wait for a sensor update, check for exit condition every 100 ms
int ret = poll(_polls, 3, 100); int ret = px4_poll(_polls, 3, 100);
if (ret < 0) { if (ret < 0) {
/* poll error, count it in perf */ /* poll error, count it in perf */

3
src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
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@@ -1,5 +1,6 @@
#pragma once #pragma once
#include <px4_posix.h>
#include <controllib/uorb/blocks.hpp> #include <controllib/uorb/blocks.hpp>
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
@@ -262,7 +263,7 @@ private:
//BlockDelay<uint64_t, 1, 1, HIST_LEN> _tDelay; //BlockDelay<uint64_t, 1, 1, HIST_LEN> _tDelay;
// misc // misc
struct pollfd _polls[3]; px4_pollfd_struct_t _polls[3];
uint64_t _timeStamp; uint64_t _timeStamp;
//uint64_t _time_last_hist; //uint64_t _time_last_hist;
uint64_t _time_last_xy; uint64_t _time_last_xy;

2
src/modules/segway/BlockSegwayController.cpp
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@@ -3,7 +3,7 @@
void BlockSegwayController::update() void BlockSegwayController::update()
{ {
// wait for a sensor update, check for exit condition every 100 ms // wait for a sensor update, check for exit condition every 100 ms
if (poll(&_attPoll, 1, 100) < 0) { return; } // poll error if (px4_poll(&_attPoll, 1, 100) < 0) { return; } // poll error
uint64_t newTimeStamp = hrt_absolute_time(); uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f; float dt = (newTimeStamp - _timeStamp) / 1.0e6f;

3
src/modules/segway/BlockSegwayController.hpp
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@@ -1,5 +1,6 @@
#pragma once #pragma once
#include <px4_posix.h>
#include <controllib/uorb/blocks.hpp> #include <controllib/uorb/blocks.hpp>
using namespace control; using namespace control;
@@ -22,7 +23,7 @@ private:
enum {CH_LEFT, CH_RIGHT}; enum {CH_LEFT, CH_RIGHT};
BlockPI th2v; BlockPI th2v;
BlockP q2v; BlockP q2v;
struct pollfd _attPoll; px4_pollfd_struct_t _attPoll;
uint64_t _timeStamp; uint64_t _timeStamp;
}; };