this allows Linux boards to trigger an external script on GPIO
writes. This can be hooked up to relays with either RC options or
mavlink or mission items to trigger actions that can be scripted
this is the first step to using AP_RCProtocol for most (or all) RC
input on Linux boards. It also fixes a major bug on Disco where the
old SBUS decoder didn't use strict enough timing checks to filter out
bad frames when video capture is running. That led to erratic flight
mode changes and sometimes loss of control.
This allows to use any device to send RCInput to Disco via network.
Particularly this is useful when paired to additional changes on
SkyController 2 so it can be used to control Ardupilot.
This was tested with https://github.com/lucasdemarchi/dema-rc running
on SkyController 2.
This should at most be behind a flag. If the device is being used by
other process/drivers, it's a problem with that specific user/distro:
don't penalize everybody else. Besides, changing the mode is not atomic
and nothing guarantees the other side doesn't get scheduled and change
it back before we get to run.
Do not create one thread per chardev (i.e. bus + kernel's chip select).
Since the shared resources are actually the bus controller and the bus
lines, it makes sense to have 1 thread per bus, otherwise it will just
get locked again on the mutex in the kernel side.
../../libraries/AP_HAL_Linux/Scheduler.cpp: In member function ‘void Linux::Scheduler::_debug_stack()’:
../../libraries/AP_HAL_Linux/Scheduler.cpp:127:47: warning: format ‘%zu’ expects a matching ‘size_t’ argument [-Wformat=]
_uart_thread.get_stack_usage());
^
The open coded version has the same problem fixed by Thread abstraction:
the order of the calls matters and it's easy to call in the wrong order.
Here pthread_attr_setschedparam() and pthread_attr_setschedpolicy()
should be swapped, like in 62c2f737d5 (AP_HAL_Linux: fix setting RT priorities.)
Andrew Tridgell
Peter Barker
Lucas De Marchi
Jeremy Feltracco
Michael du Breuil
mirkix
Tom Pittenger
Aaron Wang Shi
Randy Mackay
Francisco Ferreira
Jonathan Challinger
Jack