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simulator: cleanup and wait for startup

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Unfortunately this commit contains two things:
1. Some cleanup and renaiming.
2. An additional wait until lockstep has been initialized.
   By waiting until HIL_SENSOR messages arrive including timestamps we
   stop the startup script and prevent other modules from running until
   time is set up. This should resolve some busy waiting by various
   modules and prevent races on initialization (e.g. the landing state
   being subscribed by mavlink before being published by the land
   detector).
This commit is contained in:
Julian Oes
2019-11-18 14:15:13 +01:00
committed by Lorenz Meier
parent 99fbadac70
commit 8817f172ea
3 changed files with 67 additions and 59 deletions
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12
src/modules/simulator/simulator_mavlink.cpp
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@@ -2,7 +2,7 @@
*
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
* Copyright (c) 2016 Anton Matosov. All rights reserved.
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2017-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -374,6 +374,14 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
_last_battery_timestamp = now_us;
}
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
if (!_has_initialized.load()) {
_has_initialized.store(true);
}
#endif
}
void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg)
@@ -630,7 +638,7 @@ void Simulator::send_heartbeat()
send_mavlink_message(message);
}
void Simulator::poll_for_MAVLink_messages()
void Simulator::run()
{
#ifdef __PX4_DARWIN
pthread_setname_np("sim_rcv");