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UAVCAN: Move to semaphore abstraction

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This commit is contained in:
Lorenz Meier
2015-09-20 00:30:12 +02:00
parent 3599b577df
commit f37f8fb977
3 changed files with 9 additions and 9 deletions
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14
src/modules/uavcan/uavcan_main.cpp
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@@ -94,7 +94,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
std::abort();
}
res = sem_init(&_server_command_sem, 0 , 0);
res = px4_sem_init(&_server_command_sem, 0 , 0);
if (res < 0) {
std::abort();
@@ -158,7 +158,7 @@ UavcanNode::~UavcanNode()
perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed);
pthread_mutex_destroy(&_node_mutex);
sem_destroy(&_server_command_sem);
px4_sem_destroy(&_server_command_sem);
}
@@ -208,7 +208,7 @@ int UavcanNode::start_fw_server()
}
_fw_server_action = None;
sem_post(&_server_command_sem);
px4_sem_post(&_server_command_sem);
return rv;
}
@@ -224,7 +224,7 @@ int UavcanNode::request_fw_check()
}
_fw_server_action = None;
sem_post(&_server_command_sem);
px4_sem_post(&_server_command_sem);
return rv;
}
@@ -248,7 +248,7 @@ int UavcanNode::stop_fw_server()
}
_fw_server_action = None;
sem_post(&_server_command_sem);
px4_sem_post(&_server_command_sem);
return rv;
}
@@ -263,7 +263,7 @@ int UavcanNode::fw_server(eServerAction action)
case CheckFW:
if (_fw_server_action == None) {
_fw_server_action = action;
sem_wait(&_server_command_sem);
px4_sem_wait(&_server_command_sem);
rv = _fw_server_status;
}
@@ -678,7 +678,7 @@ UavcanNode::control_callback(uintptr_t handle, uint8_t control_group, uint8_t co
int
UavcanNode::teardown()
{
sem_post(&_server_command_sem);
px4_sem_post(&_server_command_sem);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {