Update of /cvsroot/playerstage/code/player/server/drivers/mixed/rflex
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30646/server/drivers/mixed/rflex
Modified Files:
rflex.cc rflex_commands.cc
Log Message:
applied patch to fix busy loop in rflex driver
Index: rflex_commands.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/rflex/rflex_commands.cc,v
retrieving revision 1.22
retrieving revision 1.23
diff -C2 -d -r1.22 -r1.23
*** rflex_commands.cc 6 Sep 2005 05:37:31 -0000 1.22
--- rflex_commands.cc 30 May 2006 22:57:52 -0000 1.23
***************
*** 167,170 ****
--- 167,173 ----
start = now;
count = (now.tv_sec - start.tv_sec) * 1000000 + (now.tv_usec -
start.tv_usec);
+
+ // release somewhat so other threads can run.
+ usleep(500);
} while (count < 10000);
Index: rflex.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/rflex/rflex.cc,v
retrieving revision 1.34
retrieving revision 1.35
diff -C2 -d -r1.34 -r1.35
*** rflex.cc 26 Jan 2006 13:31:11 -0000 1.34
--- rflex.cc 30 May 2006 22:57:52 -0000 1.35
***************
*** 515,518 ****
--- 515,525 ----
command = *reinterpret_cast<player_position2d_cmd_vel_t *> (data);
Unlock();
+
+ // reset command_type since we have a new
+ // velocity command so we can get into the
+ // velocity control section in RFLEX::Main()
+
+ command_type = 0;
+
return 0;
}
***************
*** 1157,1160 ****
--- 1164,1171 ----
}
Unlock();
+
+ // release cpu somewhat so other threads can run.
+ usleep(1000);
+
}
pthread_exit(NULL);
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