改进线程同步逻辑

sfxfs · Nov 21, 2023 · 076bfc1 · 076bfc1
1 parent c12770e
commit 076bfc1
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Showing 7 changed files with 31 additions and 10 deletions.
diff --git a/user/control/control.c b/user/control/control.c
@@ -20,8 +20,9 @@ void *control_thread(void *arg)
     rov_info_t *info = (rov_info_t *)arg;
     for (;;)
     {
-        pthread_mutex_lock(&info->system.device.power_output_mtx);
-        pthread_cond_wait(&info->system.server.recv_cmd_cond, &info->system.device.power_output_mtx);
+        pthread_mutex_lock(&info->system.control.recv_cmd_mtx);
+        pthread_cond_wait(&info->system.control.recv_cmd_cond, &info->system.control.recv_cmd_mtx);
+        log_d("cmd recv, ask for propeller");
         if (info->control.flag.debug_mode == false)
         {
             rov_manual_control(info);
@@ -30,7 +31,8 @@ void *control_thread(void *arg)
         {
             rov_debug_control(info);
         }
-        pthread_mutex_unlock(&info->system.device.power_output_mtx);
+        pthread_cond_signal(&info->system.device.power_output_cond);
+        pthread_mutex_unlock(&info->system.control.recv_cmd_mtx);
     }
     return NULL;
 }
@@ -42,6 +44,9 @@ void *control_thread(void *arg)
  */
 int rov_control_run(struct rov_info* info)
 {
+    pthread_mutex_init(&info->system.control.recv_cmd_mtx, NULL);
+    pthread_cond_init(&info->system.control.recv_cmd_cond, NULL);
+
     log_i("starting thread");
     if (pthread_create(&info->system.control.main_tid, NULL, control_thread, info) != 0)
     {

diff --git a/user/data-type/system.h b/user/data-type/system.h
@@ -6,6 +6,7 @@
 typedef struct sys_device
 {
     pthread_t main_tid;
+    pthread_cond_t power_output_cond;
     pthread_mutex_t power_output_mtx;
 } sys_device_t;
 
@@ -19,13 +20,14 @@ typedef struct sys_server
 {
     pthread_t loss_status_check_tid;
     pthread_mutex_t loss_status_mtx;
-    pthread_cond_t recv_cmd_cond;
     struct server_config config;
 } sys_server_t;
 
 typedef struct sys_control
 {
     pthread_t main_tid;
+    pthread_mutex_t recv_cmd_mtx;
+    pthread_cond_t recv_cmd_cond;
 } sys_control_t;
 
 typedef struct system

diff --git a/user/device/device.c b/user/device/device.c
@@ -53,7 +53,11 @@ void *propeller_thread(void *arg)
     for (;;)
     {
         pthread_mutex_lock(&info->system.device.power_output_mtx);
+        pthread_cond_wait(&info->system.device.power_output_cond, &info->system.device.power_output_mtx);
+
+        log_d("write to propeller");
         write_to_propeller(&info->propeller);
+
         pthread_mutex_unlock(&info->system.device.power_output_mtx);
     }
 
@@ -68,6 +72,7 @@ void *propeller_thread(void *arg)
 int rov_device_run(struct rov_info* info)
 {
     pthread_mutex_init(&info->system.device.power_output_mtx, NULL);
+    pthread_cond_init(&info->system.device.power_output_cond, NULL);
 
     log_i("starting pwm controller");
     if (pwm_controller_init(PCA9685_ADDRESS_A000000, info->propeller.pwm_freq_calibration) < 0)

diff --git a/user/main.c b/user/main.c
@@ -11,8 +11,14 @@ extern void uvm_loop    (void);
 
 static void exit_uvm(int sig)
 {
-    printf("info: closing uv-master app...\n");
+    printf("\ninfo: closing uv-master app...\n");
     uvm_deinit();
+    printf( "   __               __                \n"
+            "  /  )             /  )              /\n"
+            " /--<  __  , _    /--<  __  , _     / \n"
+            "/___/_/ (_/_</_  /___/_/ (_/_</_   '  \n"
+            "         /                /       o   \n"
+            "        '                '            \n");
     exit(EXIT_SUCCESS);
 }
 

diff --git a/user/server/handler/control.c b/user/server/handler/control.c
@@ -1,3 +1,6 @@
+#define LOG_TAG "server.handler.ctl"
+
+#include "elog.h"
 #include "config/parameters/utils.h"
 #include "data_define.h"
 
@@ -33,7 +36,8 @@ static cJSON *move_analysis(cJSON* params, struct rov_info* info, move_mode_t mo
             break;
     }
 
-    pthread_cond_signal(&info->system.server.recv_cmd_cond);
+    log_d("rocket cmd recv, sending cond signal");
+    pthread_cond_signal(&info->system.control.recv_cmd_cond);
 
     return cJSON_CreateNull();
 }

diff --git a/user/server/handler/debug.c b/user/server/handler/debug.c
@@ -60,7 +60,7 @@ cJSON *set_propeller_values_handler(jrpc_context *ctx, cJSON *params, cJSON *id)
     info->propeller.front_left.power_debug  = cjson_value_analysis_int(params, "front_left");
     info->propeller.front_right.power_debug  = cjson_value_analysis_int(params, "front_right");
 
-    pthread_cond_signal(&info->system.server.recv_cmd_cond);
+    pthread_cond_signal(&info->system.control.recv_cmd_cond);
 
     return cJSON_CreateNull();
 }

diff --git a/user/server/server.c b/user/server/server.c
@@ -146,8 +146,6 @@ int loss_ctl_timer_init(struct rov_info* info)
  */
 int jsonrpc_server_run(struct rov_info* info, uint8_t debug_level)
 {
-    pthread_cond_init(&info->system.server.recv_cmd_cond, NULL);
-
     o = onion_new(O_DETACH_LISTEN | O_NO_SIGTERM);
     if (o == NULL)
     {
@@ -196,7 +194,8 @@ int jsonrpc_server_stop()
 {
     log_i("stop service");
 
-    mln_event_free(ev);//释放事件模块
+    if (ev != NULL)
+        mln_event_free(ev);//释放事件模块
     onion_free(o);
 
     return 0;