Update transport from poll to IRQ #9
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| RCSOFTCHECK(rcl_send_response(&serv,&req_id,&res)) | ||
| } | ||
| k_sleep(100); |
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| static void uart_fifo_callback(struct device *dev){ | ||
| while (uart_irq_update(dev) && uart_irq_is_pending(dev)) { | ||
| if (uart_irq_rx_ready(dev)) { |
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What happens when uart_irq_rx_ready return false?
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It means the IRQ callback has been called for other reason different from rx ready event. This should not happen since only uart_irq_rx_enable(platform->uart_dev); has been enabled.
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So, in case it happens what should we do? Should we break or return?
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| while(ring_buf_is_empty(&in_ringbuf) && spent_time < timeout){ | ||
| k_sleep(K_MSEC(1)); | ||
| spent_time++; |
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Is it deterministic? I mean, is Zephyr able to ensure that when a task sleeps it won't be longer than the request time?
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When dealing with preemptive tasks and no higher priority task exists it is deterministic.
If there is a higher prio task, it may take longer. By default micro-ROS works on the preemptive task priorities ranges, so cooperative behavior is not contemplated.
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Ok, is there a way to measure time in a deterministic manner?
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| static void uart_fifo_callback(struct device *dev){ | ||
| while (uart_irq_update(dev) && uart_irq_is_pending(dev)) { | ||
| if (uart_irq_rx_ready(dev)) { |
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So, in case it happens what should we do? Should we break or return?
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| while(ring_buf_is_empty(&in_ringbuf) && spent_time < timeout){ | ||
| k_sleep(K_MSEC(1)); | ||
| spent_time++; |
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Ok, is there a way to measure time in a deterministic manner?
| return index; | ||
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| uart_irq_rx_disable(platform->uart_dev); | ||
| read = ring_buf_get(&in_ringbuf, buf, len); |
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Be careful, read is a posix function and I don't know if it exis in Zephyr but could be.
This PR adds service example and updates the UART serial transport to an IRQ approach