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in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
commit d6708057583c47419f3fd2dce64adce883b3b523
Author: dongjiuzhu1 <dongjiuz...@xiaomi.com>
AuthorDate: Wed Dec 11 21:32:13 2024 +0800
system/uorb: add eventfd to notify loop exit.
Add support for exiting loop by writing eventfd.
Signed-off-by: dongjiuzhu1 <dongjiuz...@xiaomi.com>
---
system/uorb/Kconfig | 1 +
system/uorb/Makefile | 2 ++
system/uorb/uORB/loop.c | 51 +++++++++++++++++++++++++++++++++++++++++++++++++
system/uorb/uORB/uORB.h | 27 ++++++++++++++++++--------
4 files changed, 73 insertions(+), 8 deletions(-)
diff --git a/system/uorb/Kconfig b/system/uorb/Kconfig
index 3d1d9cb5e..bbe66ca16 100644
--- a/system/uorb/Kconfig
+++ b/system/uorb/Kconfig
@@ -28,6 +28,7 @@ config UORB_TESTS
config UORB_LOOP_MAX_EVENTS
int "uorb loop max events"
+ depends on EVENT_FD
default 0
if UORB_TESTS
diff --git a/system/uorb/Makefile b/system/uorb/Makefile
index 800cd5cfb..2811f2f78 100644
--- a/system/uorb/Makefile
+++ b/system/uorb/Makefile
@@ -25,9 +25,11 @@ include $(APPDIR)/Make.defs
CSRCS += uORB/uORB.c
CSRCS += $(wildcard sensor/*.c)
+ifneq ($(CONFIG_UORB_LOOP_MAX_EVENTS),)
ifneq ($(CONFIG_UORB_LOOP_MAX_EVENTS),0)
CSRCS += uORB/loop.c uORB/epoll.c
endif
+endif
ifneq ($(CONFIG_UORB_LISTENER),)
MAINSRC += listener.c
diff --git a/system/uorb/uORB/loop.c b/system/uorb/uORB/loop.c
index 772e37d40..9d9bf994c 100644
--- a/system/uorb/uORB/loop.c
+++ b/system/uorb/uORB/loop.c
@@ -25,6 +25,11 @@
****************************************************************************/
#include <errno.h>
+#include <sys/poll.h>
+#include <unistd.h>
+#include <sys/eventfd.h>
+#include <sys/wait.h>
+#include <sys/types.h>
#include "internal.h"
@@ -35,6 +40,7 @@
int orb_loop_init(FAR struct orb_loop_s *loop, enum orb_loop_type_e type)
{
int ret = -EINVAL;
+ int fd;
if (loop == NULL)
{
@@ -57,20 +63,65 @@ int orb_loop_init(FAR struct orb_loop_s *loop, enum
orb_loop_type_e type)
{
uorberr("loop init failed! ret:%d", ret);
loop->ops = NULL;
+ return ret;
+ }
+
+ fd = eventfd(0, EFD_CLOEXEC | EFD_NONBLOCK);
+ if (fd < 0)
+ {
+ ret = -errno;
+ uorberr("loop init eventfd failed! ret:%d", ret);
+ goto err_event;
}
+ ret = orb_handle_init(&loop->exit_handle, fd, POLLIN, loop,
+ NULL, NULL, NULL, NULL);
+ if (ret < 0)
+ {
+ uorberr("loop init eventfd handle init failed! ret:%d", ret);
+ goto err_init;
+ }
+
+ ret = orb_handle_start(loop, &loop->exit_handle);
+ if (ret < 0)
+ {
+ uorberr("loop init eventfd handle start failed! ret:%d", ret);
+ goto err_init;
+ }
+
+ return ret;
+
+err_init:
+ close(fd);
+err_event:
+ orb_loop_deinit(loop);
return ret;
}
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);
+ }
+ }
+
+ close(loop->exit_handle.fd);
ret = loop->ops->uninit(loop);
if (ret >= 0)
{
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index b1aa15ef2..fb6e172ea 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -39,6 +39,15 @@
#include <stdbool.h>
#include <syslog.h>
#include <inttypes.h>
+#include <unistd.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifndef CONFIG_UORB_LOOP_MAX_EVENTS
+# define CONFIG_UORB_LOOP_MAX_EVENTS 0
+#endif
/****************************************************************************
* Public Types
@@ -94,14 +103,6 @@ enum orb_loop_type_e
ORB_EPOLL_TYPE = 0,
};
-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
{
int events; /* Events of interest. */
@@ -112,6 +113,16 @@ struct orb_handle_s
orb_eventpri_cb_t eventpri_cb; /* User EPOLLPRI callback funtion. */
orb_eventerr_cb_t eventerr_cb; /* User EPOLLERR callback funtion. */
};
+
+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
/****************************************************************************
