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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-14 08:11:55 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-14 08:11:55 +0200 |
commit | 8a0e83c9cd9a54f09c6bc5c2c89917d87a451192 (patch) | |
tree | ffa93336d373f146c2d23a14551e6b8081e21f1f /src/modules/fw_att_control | |
parent | 5f176d14fed9ace9f5265a40b7ace1e6d00a7690 (diff) | |
download | px4-firmware-8a0e83c9cd9a54f09c6bc5c2c89917d87a451192.tar.gz px4-firmware-8a0e83c9cd9a54f09c6bc5c2c89917d87a451192.tar.bz2 px4-firmware-8a0e83c9cd9a54f09c6bc5c2c89917d87a451192.zip |
fw att ctrl: Only return from start handler with all allocations done
Diffstat (limited to 'src/modules/fw_att_control')
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 28 |
1 files changed, 24 insertions, 4 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 3cd4ce928..4cdba735a 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2013, 2014 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 @@ -99,13 +98,21 @@ public: /** * Start the sensors task. * - * @return OK on success. + * @return OK on success. */ int start(); + /** + * Task status + * + * @return true if the mainloop is running + */ + bool task_running() { return _task_running; } + private: bool _task_should_exit; /**< if true, sensor task should exit */ + bool _task_running; /**< if true, task is running in its mainloop */ int _control_task; /**< task handle for sensor task */ int _att_sub; /**< vehicle attitude subscription */ @@ -276,6 +283,7 @@ private: * Main sensor collection task. */ void task_main(); + }; namespace att_control @@ -287,12 +295,13 @@ namespace att_control #endif static const int ERROR = -1; -FixedwingAttitudeControl *g_control; +FixedwingAttitudeControl *g_control = nullptr; } FixedwingAttitudeControl::FixedwingAttitudeControl() : _task_should_exit(false), + _task_running(false), _control_task(-1), /* subscriptions */ @@ -598,6 +607,8 @@ FixedwingAttitudeControl::task_main() fds[1].fd = _att_sub; fds[1].events = POLLIN; + _task_running = true; + while (!_task_should_exit) { static int loop_counter = 0; @@ -921,6 +932,7 @@ FixedwingAttitudeControl::task_main() warnx("exiting.\n"); _control_task = -1; + _task_running = false; _exit(0); } @@ -966,6 +978,14 @@ int fw_att_control_main(int argc, char *argv[]) err(1, "start failed"); } + /* avoid memory fragmentation by not exiting start handler until the task has fully started */ + while (att_control::g_control == nullptr || !att_control::g_control->task_running()) { + usleep(50000); + printf("."); + fflush(stdout); + } + printf("\n"); + exit(0); } |