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ModuleBase: allow configurable timeout for wait_until_running()

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Beat Küng
2021-07-02 11:28:09 +02:00
committed by Lorenz Meier
parent cf524cd2c9
commit 9b7170551c
1 changed files with 4 additions and 5 deletions
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9
platforms/common/include/px4_platform_common/module.h
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@@ -362,17 +362,16 @@ protected:
* @brief Waits until _object is initialized, (from the new thread). This can be called from task_spawn(). * @brief Waits until _object is initialized, (from the new thread). This can be called from task_spawn().
* @return Returns 0 iff successful, -1 on timeout or otherwise. * @return Returns 0 iff successful, -1 on timeout or otherwise.
*/ */
static int wait_until_running() static int wait_until_running(int timeout_ms = 1000)
{ {
int i = 0; int i = 0;
do { do {
/* Wait up to 1s. */ px4_usleep(2000);
px4_usleep(2500);
} while (!_object.load() && ++i < 400); } while (!_object.load() && ++i < timeout_ms / 2);
if (i == 400) { if (i >= timeout_ms / 2) {
PX4_ERR("Timed out while waiting for thread to start"); PX4_ERR("Timed out while waiting for thread to start");
return -1; return -1;
} }