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platforms: use define for lockstep scheduler

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Instead of using the define __PX4_POSIX_SITL it makes more sense to have
a define just to determine if the lockstep scheduler should be used.
This commit is contained in:
Julian Oes
2018-12-09 12:22:49 +01:00
parent 73578a593f
commit 547dd8511b
8 changed files with 18 additions and 10 deletions
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7
CMakeLists.txt
View File

@@ -216,6 +216,13 @@ include(${PX4_CONFIG_FILE})
message(STATUS "PX4 config: ${PX4_CONFIG}") message(STATUS "PX4 config: ${PX4_CONFIG}")
message(STATUS "PX4 platform: ${PX4_PLATFORM}") message(STATUS "PX4 platform: ${PX4_PLATFORM}")
if (ENABLE_LOCKSTEP_SCHEDULER)
add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
message(STATUS "PX4 lockstep: enabled")
else()
message(STATUS "PX4 lockstep: disabled")
endif()
# external modules # external modules
set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location") set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")

3
boards/px4/sitl/default.cmake
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@@ -98,5 +98,4 @@ if(REPLAY_FILE)
add_definitions(-DORB_USE_PUBLISHER_RULES) add_definitions(-DORB_USE_PUBLISHER_RULES)
endif() endif()
add_definitions(-D__PX4_POSIX_SITL) set(ENABLE_LOCKSTEP_SCHEDULER yes)
set(LOCKSTEP_SCHEDULER_NEEDED yes)

2
boards/px4/sitl/test.cmake
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@@ -96,3 +96,5 @@ if(REPLAY_FILE)
message("Building with uorb publisher rules support") message("Building with uorb publisher rules support")
add_definitions(-DORB_USE_PUBLISHER_RULES) add_definitions(-DORB_USE_PUBLISHER_RULES)
endif() endif()
set(ENABLE_LOCKSTEP_SCHEDULER no)

2
platforms/posix/src/CMakeLists.txt
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@@ -31,7 +31,7 @@
# #
############################################################################ ############################################################################
if (LOCKSTEP_SCHEDULER_NEEDED) if (ENABLE_LOCKSTEP_SCHEDULER)
add_subdirectory(lockstep_scheduler) add_subdirectory(lockstep_scheduler)
endif() endif()

2
platforms/posix/src/px4_layer/CMakeLists.txt
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@@ -56,7 +56,7 @@ target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
target_link_libraries(px4_layer PRIVATE work_queue) target_link_libraries(px4_layer PRIVATE work_queue)
target_link_libraries(px4_layer PRIVATE px4_daemon) target_link_libraries(px4_layer PRIVATE px4_daemon)
if(LOCKSTEP_SCHEDULER_NEEDED) if(ENABLE_LOCKSTEP_SCHEDULER)
target_link_libraries(px4_layer PRIVATE lockstep_scheduler) target_link_libraries(px4_layer PRIVATE lockstep_scheduler)
include_directories(${PX4_SOURCE_DIR}/platforms/posix/src/lockstep_scheduler/include) include_directories(${PX4_SOURCE_DIR}/platforms/posix/src/lockstep_scheduler/include)
endif() endif()

6
platforms/posix/src/px4_layer/drv_hrt.cpp
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@@ -49,7 +49,7 @@
#include <errno.h> #include <errno.h>
#include "hrt_work.h" #include "hrt_work.h"
#if defined(__PX4_POSIX_SITL) #if defined(ENABLE_LOCKSTEP_SCHEDULER)
#include <lockstep_scheduler/lockstep_scheduler.h> #include <lockstep_scheduler/lockstep_scheduler.h>
#endif #endif
@@ -72,7 +72,7 @@ static hrt_abstime _delay_interval = 0;
static hrt_abstime max_time = 0; static hrt_abstime max_time = 0;
static pthread_mutex_t _hrt_mutex = PTHREAD_MUTEX_INITIALIZER; static pthread_mutex_t _hrt_mutex = PTHREAD_MUTEX_INITIALIZER;
#if defined(__PX4_POSIX_SITL) #if defined(ENABLE_LOCKSTEP_SCHEDULER)
static LockstepScheduler lockstep_scheduler; static LockstepScheduler lockstep_scheduler;
#endif #endif
@@ -594,7 +594,7 @@ void abstime_to_ts(struct timespec *ts, hrt_abstime abstime)
ts->tv_nsec = abstime * 1000; ts->tv_nsec = abstime * 1000;
} }
#if defined(__PX4_POSIX_SITL) #if defined(ENABLE_LOCKSTEP_SCHEDULER)
int px4_clock_gettime(clockid_t clk_id, struct timespec *tp) int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
{ {
if (clk_id == CLOCK_MONOTONIC) { if (clk_id == CLOCK_MONOTONIC) {

4
src/include/visibility.h
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@@ -65,7 +65,7 @@
*/ */
#define system_exit exit #define system_exit exit
#if defined(__PX4_POSIX_SITL) #if defined(ENABLE_LOCKSTEP_SCHEDULER)
#include <stdlib.h> #include <stdlib.h>
#include <unistd.h> #include <unistd.h>
@@ -99,7 +99,7 @@
#include <unistd.h> #include <unistd.h>
#include <time.h> #include <time.h>
#else // defined(__PX4_POSIX_SITL) #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
#define system_usleep usleep #define system_usleep usleep
#define system_sleep sleep #define system_sleep sleep

2
src/platforms/px4_time.h
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@@ -9,7 +9,7 @@
#define clockid_t int #define clockid_t int
#endif #endif
#if defined(__PX4_POSIX_SITL) || defined(__PX4_QURT) #if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT)
__BEGIN_DECLS __BEGIN_DECLS
__EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp); __EXPORT int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);