Changes for native posix builds #2
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usleep() in main loop under native posix causes the app to stop responding. Changing to zephyr's k_msleep() fixes this.
| while(1){ | ||
| rclc_executor_spin_some(&executor, 100); | ||
| usleep(100000); | ||
| k_msleep(100); |
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hmmm. I'm not sure why. Would you mind enlightening me?
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I'm assuming that with host's usleep() Zephyr doesn't schedule the sleeping thread.
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Your assumption is correct.
This change helped this application work better, but there is still the problem that the ROS and uROS libs use usleep()
Example: modules/lib/rclc/src/rclc/sleep.c
However, I wasn't too concerned about this as it only has to work well enough for CI tests on native_posix builds.
For bare-metal builds Zephyr's usleep() will be used.
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Example: modules/lib/rclc/src/rclc/sleep.c
That's easy to fix. See yashi/rclc#1
| @@ -1 +1,39 @@ | |||
| CONFIG_MAIN_THREAD_PRIORITY=3 | |||
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Would you mind explaining to me why the main thread must be priority 3?
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CONFIG_MAIN_THREAD_PRIORITY=3
comes directly from the original prj.conf file of the micro_ros_zephyr_module application.
There was no indication why it was set to that value in the original project.
I had no reason to change it so left it as is.
prj_native_posix.conf
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| #CONFIG_POSIX_API=y | ||
| #CONFIG_PICOLIBC=y |
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Will do - I will convert all the prj_XXX.conf files to their minimal form.
prj_native_posix.conf
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| #CONFIG_POSIX_API=y | ||
| #CONFIG_PICOLIBC=y | ||
| CONFIG_PTHREAD_IPC=n |
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This is default n if !POSIX_API. Why do we need this?
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I will convert all the prj_XXX.conf files to their minimal form.
| while(1){ | ||
| rclc_executor_spin_some(&executor, 100); | ||
| usleep(100000); | ||
| k_msleep(100); |
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Example: modules/lib/rclc/src/rclc/sleep.c
That's easy to fix. See yashi/rclc#1
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