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AP_HAL_PX4: fix passing callback to member function
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This is the same approach as done for AP_HAL_Linux in e3d78b8 ("AP_HAL_Linux:
fix passing callback to member function"). It fixes the following warnings:

ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp: In member function 'virtual void PX4::PX4Scheduler::init(void*)':
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:55:95: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
  pthread_create(&_timer_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_timer_thread, this);
                                                                                               ^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:65:94: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
  pthread_create(&_uart_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_uart_thread, this);
                                                                                              ^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:75:92: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
  pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_io_thread, this);
                                                                                            ^
ardupilot/libraries/AP_HAL_PX4/Scheduler.cpp:85:100: warning: converting from 'void* (PX4::PX4Scheduler::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
     pthread_create(&_storage_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_storage_thread, this);

ardupilot/libraries/AP_HAL_PX4/NSHShellStream.cpp: In member function 'void PX4::NSHShellStream::start_shell()':
ardupilot/libraries/AP_HAL_PX4/NSHShellStream.cpp:83:99: warning: converting from 'void (PX4::NSHShellStream::*)()' to 'pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
     pthread_create(&shell_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::NSHShellStream::shell_thread, this);
                                                                                                   ^
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@lucasdemarchi @tridge
lucasdemarchi authored and tridge committed Dec 2, 2015
1 parent 036eb21 commit 6d7678d
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Showing 4 changed files with 47 additions and 38 deletions.
17 changes: 9 additions & 8 deletions libraries/AP_HAL_PX4/NSHShellStream.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -22,21 +22,22 @@ extern const AP_HAL::HAL& hal;
#include "Util.h"
using namespace PX4;

void NSHShellStream::shell_thread(void)
void NSHShellStream::shell_thread(void *arg)
{
NSHShellStream *nsh = (NSHShellStream *)arg;
close(0);
close(1);
close(2);
dup2(child.in, 0);
dup2(child.out, 1);
dup2(child.out, 2);
dup2(nsh->child.in, 0);
dup2(nsh->child.out, 1);
dup2(nsh->child.out, 2);

nsh_consolemain(0, NULL);

shell_stdin = -1;
shell_stdout = -1;
child.in = -1;
child.out = -1;
nsh->shell_stdin = -1;
nsh->shell_stdout = -1;
nsh->child.in = -1;
nsh->child.out = -1;
}

void NSHShellStream::start_shell(void)
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58 changes: 33 additions & 25 deletions libraries/AP_HAL_PX4/Scheduler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ void PX4Scheduler::init()
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);

pthread_create(&_timer_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_timer_thread, this);
pthread_create(&_timer_thread_ctx, &thread_attr, &PX4Scheduler::_timer_thread, this);

// the UART thread runs at a medium priority
pthread_attr_init(&thread_attr);
Expand All @@ -62,7 +62,7 @@ void PX4Scheduler::init()
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);

pthread_create(&_uart_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_uart_thread, this);
pthread_create(&_uart_thread_ctx, &thread_attr, &PX4Scheduler::_uart_thread, this);

// the IO thread runs at lower priority
pthread_attr_init(&thread_attr);
Expand All @@ -72,7 +72,7 @@ void PX4Scheduler::init()
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);

pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_io_thread, this);
pthread_create(&_io_thread_ctx, &thread_attr, &PX4Scheduler::_io_thread, this);

// the storage thread runs at just above IO priority
pthread_attr_init(&thread_attr);
Expand All @@ -82,7 +82,7 @@ void PX4Scheduler::init()
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);

pthread_create(&_storage_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_storage_thread, this);
pthread_create(&_storage_thread_ctx, &thread_attr, &PX4Scheduler::_storage_thread, this);
}

/**
Expand Down Expand Up @@ -256,19 +256,21 @@ void PX4Scheduler::_run_timers(bool called_from_timer_thread)

extern bool px4_ran_overtime;

void *PX4Scheduler::_timer_thread(void)
void *PX4Scheduler::_timer_thread(void *arg)
{
PX4Scheduler *sched = (PX4Scheduler *)arg;
uint32_t last_ran_overtime = 0;
while (!_hal_initialized) {

while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
}
while (!_px4_thread_should_exit) {
delay_microseconds_semaphore(1000);
sched->delay_microseconds_semaphore(1000);

// run registered timers
perf_begin(_perf_timers);
_run_timers(true);
perf_end(_perf_timers);
perf_begin(sched->_perf_timers);
sched->_run_timers(true);
perf_end(sched->_perf_timers);

// process any pending RC output requests
((PX4RCOutput *)hal.rcout)->_timer_tick();
Expand Down Expand Up @@ -304,13 +306,15 @@ void PX4Scheduler::_run_io(void)
_in_io_proc = false;
}

void *PX4Scheduler::_uart_thread(void)
void *PX4Scheduler::_uart_thread(void *arg)
{
while (!_hal_initialized) {
poll(NULL, 0, 1);
PX4Scheduler *sched = (PX4Scheduler *)arg;

while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
}
while (!_px4_thread_should_exit) {
delay_microseconds_semaphore(1000);
sched->delay_microseconds_semaphore(1000);

// process any pending serial bytes
((PX4UARTDriver *)hal.uartA)->_timer_tick();
Expand All @@ -322,34 +326,38 @@ void *PX4Scheduler::_uart_thread(void)
return NULL;
}

void *PX4Scheduler::_io_thread(void)
void *PX4Scheduler::_io_thread(void *arg)
{
while (!_hal_initialized) {
poll(NULL, 0, 1);
PX4Scheduler *sched = (PX4Scheduler *)arg;

while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
}
while (!_px4_thread_should_exit) {
poll(NULL, 0, 1);

// run registered IO processes
perf_begin(_perf_io_timers);
_run_io();
perf_end(_perf_io_timers);
perf_begin(sched->_perf_io_timers);
sched->_run_io();
perf_end(sched->_perf_io_timers);
}
return NULL;
}

void *PX4Scheduler::_storage_thread(void)
void *PX4Scheduler::_storage_thread(void *arg)
{
while (!_hal_initialized) {
poll(NULL, 0, 1);
PX4Scheduler *sched = (PX4Scheduler *)arg;

while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
}
while (!_px4_thread_should_exit) {
poll(NULL, 0, 10);

// process any pending storage writes
perf_begin(_perf_storage_timer);
perf_begin(sched->_perf_storage_timer);
((PX4Storage *)hal.storage)->_timer_tick();
perf_end(_perf_storage_timer);
perf_end(sched->_perf_storage_timer);
}
return NULL;
}
Expand Down
8 changes: 4 additions & 4 deletions libraries/AP_HAL_PX4/Scheduler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -88,10 +88,10 @@ class PX4::PX4Scheduler : public AP_HAL::Scheduler {
pthread_t _storage_thread_ctx;
pthread_t _uart_thread_ctx;

void *_timer_thread(void);
void *_io_thread(void);
void *_storage_thread(void);
void *_uart_thread(void);
static void *_timer_thread(void *arg);
static void *_io_thread(void *arg);
static void *_storage_thread(void *arg);
static void *_uart_thread(void *arg);

void _run_timers(bool called_from_timer_thread);
void _run_io(void);
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_HAL_PX4/Util.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ class PX4::NSHShellStream : public AP_HAL::Stream {
bool showed_armed_warning = false;

void start_shell(void);
void shell_thread(void);
static void shell_thread(void *arg);
};

class PX4::PX4Util : public AP_HAL::Util {
Expand Down

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