This is an automated email from the ASF dual-hosted git repository.
cederom pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
commit f14249d1d341fb1345e74b257bdea636a1777996
Author: wangjianyu3 <wangjian...@xiaomi.com>
AuthorDate: Wed Apr 16 21:10:50 2025 +0800
system/uORB: Add API for sending loop exit event
Add orb_loop_exit_async() API to send exit event to uORB loop.
Closing immediately after a write may cause missing a wakeup.
When all file descriptors associated with the same eventfd object have been
closed, the resources for object are freed by the kernel. --EVENTFD(2)
Signed-off-by: wangjianyu3 <wangjian...@xiaomi.com>
---
system/uorb/uORB/epoll.c | 14 +++++---------
system/uorb/uORB/loop.c | 34 ++++++++++++++++++++--------------
system/uorb/uORB/uORB.h | 17 +++++++++++++++--
3 files changed, 40 insertions(+), 25 deletions(-)
diff --git a/system/uorb/uORB/epoll.c b/system/uorb/uORB/epoll.c
index 28237acc8..147831d3f 100644
--- a/system/uorb/uORB/epoll.c
+++ b/system/uorb/uORB/epoll.c
@@ -58,7 +58,6 @@ const struct orb_loop_ops_s g_orb_loop_epoll_ops =
static int orb_loop_epoll_init(FAR struct orb_loop_s *loop)
{
- loop->running = false;
loop->fd = epoll_create1(EPOLL_CLOEXEC);
if (loop->fd < 0)
{
@@ -75,13 +74,7 @@ static int orb_loop_epoll_run(FAR struct orb_loop_s *loop)
int nfds;
int i;
- if (loop->running)
- {
- return -EBUSY;
- }
-
- loop->running = true;
- while (loop->running)
+ while (1)
{
nfds = epoll_wait(loop->fd, et, CONFIG_UORB_LOOP_MAX_EVENTS, -1);
if (nfds == -1 && errno != EINTR)
@@ -96,6 +89,10 @@ static int orb_loop_epoll_run(FAR struct orb_loop_s *loop)
{
continue;
}
+ else if (handle == &loop->exit_handle)
+ {
+ return OK;
+ }
if (et[i].events & EPOLLIN)
{
@@ -151,7 +148,6 @@ static int orb_loop_epoll_uninit(FAR struct orb_loop_s
*loop)
{
int ret;
- loop->running = false;
ret = close(loop->fd);
if (ret < 0)
{
diff --git a/system/uorb/uORB/loop.c b/system/uorb/uORB/loop.c
index 9d9bf994c..01ea5f753 100644
--- a/system/uorb/uORB/loop.c
+++ b/system/uorb/uORB/loop.c
@@ -100,27 +100,14 @@ err_event:
int orb_loop_run(FAR struct orb_loop_s *loop)
{
- loop->self = gettid();
return loop->ops->run(loop);
}
int orb_loop_deinit(FAR struct orb_loop_s *loop)
{
- eventfd_t exit = 1;
int ret;
- loop->running = false;
- write(loop->exit_handle.fd, &exit, sizeof(exit));
-
- if (gettid() != loop->self)
- {
- ret = waitpid(loop->self, &ret, 0);
- if (ret < 0)
- {
- uorberr("loop deinit waitpid failed! ret:%d", -errno);
- }
- }
-
+ orb_handle_stop(loop, &loop->exit_handle);
close(loop->exit_handle.fd);
ret = loop->ops->uninit(loop);
if (ret >= 0)
@@ -131,6 +118,25 @@ int orb_loop_deinit(FAR struct orb_loop_s *loop)
return ret;
}
+int orb_loop_exit_async(FAR struct orb_loop_s *loop)
+{
+ eventfd_t exit = 1;
+ ssize_t n;
+
+ if (!loop)
+ {
+ return -EINVAL;
+ }
+
+ n = write(loop->exit_handle.fd, &exit, sizeof(exit));
+ if (n < 0)
+ {
+ return -errno;
+ }
+
+ return n == sizeof(exit) ? OK : ERROR;
+}
+
int orb_handle_init(FAR struct orb_handle_s *handle, int fd, int events,
FAR void *arg, orb_datain_cb_t datain_cb,
orb_dataout_cb_t dataout_cb, orb_eventpri_cb_t pri_cb,
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index fb6e172ea..5e0bc6c67 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -118,10 +118,8 @@ struct orb_loop_ops_s;
struct orb_loop_s
{
FAR const struct orb_loop_ops_s *ops; /* Loop handle ops. */
- bool running; /* uORB loop is running flag.
*/
int fd; /* Loop fd. */
struct orb_handle_s exit_handle; /* The exit handle */
- pid_t self; /* The pid of the loop */
};
#endif
@@ -959,6 +957,21 @@ int orb_loop_run(FAR struct orb_loop_s *loop);
int orb_loop_deinit(FAR struct orb_loop_s *loop);
+/****************************************************************************
+ * Name: orb_loop_exit_async
+ *
+ * Description:
+ * Send exit event to the current loop(not wait).
+ *
+ * Input Parameters:
+ * loop orb loop contains multiple handles.
+ *
+ * Returned Value:
+ * Zero (OK) on success; a -1 (ERROR) or negated errno value on failure.
+ ****************************************************************************/
+
+int orb_loop_exit_async(FAR struct orb_loop_s *loop);
+
/****************************************************************************
* Name: orb_handle_init
*
