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283 Commits

Author SHA1 Message Date
Beat Küng
4bc59092f4 lockstep_scheduler cmake: spaces -> tabs 2019-01-14 11:08:48 +01:00
Beat Küng
2a47715385 refactor lockstep_scheduler: fix class member naming convention 2019-01-14 11:08:48 +01:00
Beat Küng
828e31d3a9 lockstep_scheduler: optimize performance 
- use a linked-list instead of std::vector. Insertion and removal are now
  O(1)
- avoid malloc and use a thread_local instance of TimedWait.
  It gets destroyed when the thread exits, so we have to add protection
  in case a thread exits too quickly. This in turn requires a fix to the
  unit-tests.
 2019-01-14 11:08:48 +01:00
Beat Küng
ecbe2a3e0b drv_hrt posix: improve performance for hrt_absolute_time() 
Previously hrt_absolute_time() was at around 5% of the total CPU usage, now
it's around 0.35%.
 2019-01-14 11:08:48 +01:00
Beat Küng
ccefc640ac drv_hrt posix: remove unused code and remove locking from hrt_absolute_time 2019-01-14 11:08:48 +01:00
Beat Küng
5f0e6d70c5 lockstep_scheduler: use a static lock in usleep_until 
less function calls
 2019-01-14 11:08:48 +01:00
Beat Küng
e8cbc49f7a lockstep_scheduler: remove timed_waits_iterator_invalidated_ 
Not required, since the lock is held during the whole loop iteration.
 2019-01-14 11:08:48 +01:00
Beat Küng
8cdb65eed9 lockstep_scheduler: simplify LockstepScheduler::cond_timedwait & reduce locking 
- the loop is not needed
- we optimize for the fast case and lock only if really needed
 2019-01-14 11:08:48 +01:00
Beat Küng
318499f56e lockstep_scheduler: inline get_absolute_time() 
This is a small method that is used a lot.
 2019-01-14 11:08:48 +01:00
karliss
6a33b797ac drv_hrt restore dsp_offset and remove unused qurt code (#11139) 
- Fixes #11134
 2019-01-03 14:58:53 -05:00
Julian Oes
032e64aaf2 px4_sem: set errno, return -1 on any error 
- Don't duplicate the ret variable to err.
- Return -1 on any error, 0 otherwise.
- Set errno to return value of pthread_cond_timedwait.
 2019-01-01 20:35:42 +01:00
Julian Oes
23653f9f39 lockstep_scheduler: fix return value, remove errno 
The API of cond_timedwait was wrong. It used return -1 and set errno
instead of returning the error as specified for pthread_cond_timedwait
which it tries to mock.
 2019-01-01 20:35:42 +01:00
Lorenz Meier
0d0a556847 Fix usage of errno in POSIX semaphore error handling 
Previous commit 98ae0186e9 changed the err variable to errno, which is not the return value we are looking for.
 2019-01-01 20:35:42 +01:00
Julian Oes
8486b2b917 tests: properly disable shutdown test for Cygwin 2018-12-22 10:32:18 +01:00
Julian
0601214806 tests: disable shutdown and hysteresis for Cygwin 
It seems that the hysteresis test fails every now and then, presumably
due to timing issues. The tests needs some improvements, e.g. isolating
it from the system time.
 2018-12-22 10:32:18 +01:00
Julian Oes
ffb73f6496 platforms: fix redefinition for QURT 2018-12-22 10:32:18 +01:00
Julian Oes
14e5ebbbbc platforms: fix clock build for macOS (yet again) 2018-12-22 10:32:18 +01:00
Julian Oes
06c5037025 platforms: use CLOCK_MONOTONIC 
For the non-lockstep case we want to use CLOCK_MONOTONIC if possible.
 2018-12-22 10:32:18 +01:00
Julian Oes
547dd8511b platforms: use define for lockstep scheduler 
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.
 2018-12-22 10:32:18 +01:00
Julian Oes
5280a4aba1 platforms: prevent wrap-arounds in px4_sleep 
@bkueng found that the old implementation was likely to wrap-around
given seconds is only a uint32_t. We now cast it directly to uint64_t
and therefore should fix this problem.
 2018-12-22 10:32:18 +01:00
Julian Oes
4efe4b0d15 platforms: reorg after rebase on new board config 
The new board config changed everything, so I needed to move the
lockstep_scheduler repo.
 2018-12-22 10:32:18 +01:00
Julian Oes
6d273f3bd8 px4_layer: modernize warnings 2018-12-22 10:32:18 +01:00
Julian Oes
c24f6ef943 platforms: lockstep_scheduler ain't no submodule 2018-12-22 10:32:18 +01:00
Julian Oes
357870377a platforms: try to get submodule checked out 2018-12-22 10:32:18 +01:00
Julian Oes
e41518a08b platforms: clean up various build/linking issues 
This makes sure lockstep is only built for SITL builds and fixes the
existing builds.
 2018-12-22 10:32:18 +01:00
Julian Oes
843033d530 platforms: remove unused function 2018-12-22 10:32:18 +01:00
Julian Oes
98ae0186e9 px4_sem: use px4_sem on all POSIX system 
This uses the "fake" px4_sem based on mutex and condition_variable on
all POSIX system, not just macOS and Cygwin. This means that we can
change px4_sem_timedwait under the hood and inject the simulated time.
 2018-12-22 10:32:18 +01:00
Julian Oes
3e6e1f5c2b POSIX: use lockstep_scheduler to fake time 
This integrates the lockstep_scheduler, so that the system time is set
by the mavlink HIL_SENSOR message.

This means that the speed factor is removed and the speed is entirely
given by the simulator.
 2018-12-22 10:32:18 +01:00
Julian Oes
f0ce300744 platforms: move latency_buckets to perf.c 2018-12-22 10:32:18 +01:00
Julian Oes
fa8ac612ab POSIX: use C++ for drv_hrt (file was renamed) 2018-12-22 10:32:18 +01:00
Julian Oes
5df333fa96 POSIX: include lockstep_scheduler in build 2018-12-22 10:32:18 +01:00
Julian Oes
fa31d95fd8 Renamed drv_hrt.c to drv_hrt.cpp 2018-12-22 10:32:18 +01:00
Julian Oes
db6de38b19 Work in progress to support a speed factor in SITL 
These contains some rough changes trying to get SITL to speed up by a
SPEED_FACTOR.

This platform time code probably requires some more thought and refactor
but this gets a demo at 4x working.
 2018-12-22 10:32:18 +01:00
Julian Oes
5b9dea5604 Replacing usleep with px4_usleep 
This is a step towards isolating time from the system.
 2018-12-22 10:32:18 +01:00
TSC21
870c513aad readd CMAKE_RUNTIME_OUTPUT_DIRECTORY install for the posix build 2018-12-13 02:09:31 +00:00
TSC21
a6121e1655 Cmake build: do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY if building with catkin 2018-12-13 02:09:31 +00:00
James Goppert
c7eb21be86 Fix catkin/ROS build paths. 2018-12-13 02:09:31 +00:00
Kārlis Seņko
c1d50d35d3 Move common shmem parameter declarations to shmem.h. 2018-12-11 09:21:15 -05:00
Daniel Agar
fd8fe29ef3 vscode update targets and gdb debugging 2018-12-05 15:58:41 -05:00
Daniel Agar
1f8c0e79e8 cmake toolchains force cache cpu flags and don't append 
- these flags were accumlating on top of each other anytime cmake had to reconfigure
 2018-12-04 19:45:46 -05:00
Daniel Agar
dbee6380ee cmake move custom upload helpers to boards/ 2018-12-04 19:45:46 -05:00
Daniel Agar
1efad64f0c bebop move flow driver to board directory 2018-12-04 01:06:54 -05:00
Daniel Agar
d4e06e517a delete drv_gpio.h, modules/gpio_led, and fmu GPIO ioctls 2018-12-03 16:30:39 +01:00
Daniel Agar
48df19c8df move dyn_hello to examples and restore testing 2018-11-26 14:40:14 -08:00
Daniel Agar
e45e7aa8a6 move posix/tests/hello to examples/hello and include everywhere 2018-11-26 14:40:14 -08:00
Daniel Agar
c3448c19c4 make vcdevtest a generic cdev test 2018-11-26 14:40:14 -08:00
Daniel Agar
3e0a3559a9 cmake use standard mechanisms for settings flags 2018-11-26 14:40:14 -08:00
Daniel Agar
11be2b8873 cmake split px4_base into px4_add_module, px4_add_library, px4_add_common_flags 2018-11-26 14:40:14 -08:00
Daniel Agar
fa0fe4cac6 cmake remove need for platform px4_add_board_os 
- explicitly set TOOLCHAIN on all NuttX targets
 2018-11-26 14:40:14 -08:00
Daniel Agar
abb3817d31 boards new split VENDOR_MODEL naming convention 2018-11-26 14:40:14 -08:00