sven
/
libicsneo
mirror of https://github.com/intrepidcs/libicsneo.git
1
0
Fork 0
Code Issues Projects Releases Wiki Activity

Switch to non-blocking I/O for STM32 

STM32 can latency is not as good as it could be when it is synchronous due to read() timeouts,
so switch to asynchronous reading with select().
pull/25/head
Kyle Schwarz 2020-08-25 16:14:47 -04:00 committed by Paul Hollinsky
parent dfe5845b3c
commit 7cd008a003
1 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
platform/posix/stm32.cpp
View File

@ -10,6 +10,7 @@
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
#include <sys/select.h>
using namespace icsneo;
@ -25,7 +26,7 @@ bool STM32::open() {
return false;
}
fd = ::open(ttyPath.c_str(), O_RDWR | O_NOCTTY | O_SYNC);
fd = ::open(ttyPath.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
if(!isOpen()) {
//std::cout << "Open of " << ttyPath.c_str() << " failed with " << strerror(errno) << ' ';
report(APIEvent::Type::DriverFailedToOpen, APIEvent::Severity::Error);
@ -113,10 +114,15 @@ bool STM32::close() {
}
void STM32::readTask() {
constexpr size_t READ_BUFFER_SIZE = 8;
constexpr size_t READ_BUFFER_SIZE = 2048;
uint8_t readbuf[READ_BUFFER_SIZE];
EventManager::GetInstance().downgradeErrorsOnCurrentThread();
while(!closing) {
fd_set rfds = {0};
struct timeval tv = {0};
FD_SET(fd, &rfds);
tv.tv_usec = 50000; // 50ms
::select(fd + 1, &rfds, NULL, NULL, &tv);
auto bytesRead = ::read(fd, readbuf, READ_BUFFER_SIZE);
if(bytesRead > 0)
readQueue.enqueue_bulk(readbuf, bytesRead);