c_meyer/pxt-ev3
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Add exitThread() polling the exit button (#888)

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* Add exitThread() polling the exit button

* Add missing includes

* Remove redundant code
This commit is contained in:
Michał Moskal 2019-08-28 22:43:22 -07:00 committed by Peli de Halleux
parent e511630c2e
commit 8b3461bebd
2 changed files with 28 additions and 7 deletions
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5
libs/core/buttons.ts
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@ -159,11 +159,6 @@ namespace brick {
if (sl[i]) if (sl[i])
ret |= 1 << i ret |= 1 << i
} }
// this needs to be done in query(), which is run without the main JS execution mutex
// otherwise, while(true){} will lock the device
if (ret & DAL.BUTTON_ID_ESCAPE) {
control.reset()
}
return ret return ret
} }

30
libs/core/linux.cpp
View File

@ -14,6 +14,8 @@
#include <errno.h> #include <errno.h>
#include <fcntl.h> #include <fcntl.h>
#include <malloc.h> #include <malloc.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include "ev3const.h" #include "ev3const.h"
#define THREAD_DBG(...) #define THREAD_DBG(...)
@ -145,6 +147,29 @@ static void startUsb() {
pthread_detach(pid); pthread_detach(pid);
} }
static void *exitThread(void *) {
int fd = open("/dev/lms_ui", O_RDWR, 0666);
if (fd < 0)
return 0;
uint8_t *data =
(uint8_t *)mmap(NULL, NUM_BUTTONS, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
if (data == MAP_FAILED) {
close(fd);
return 0;
}
for (;;) {
if (data[5])
target_reset();
sleep_core_us(50000);
}
}
static void startExitThread() {
pthread_t pid;
pthread_create(&pid, NULL, exitThread, NULL);
pthread_detach(pid);
}
void sendUsb(uint16_t code, const char *data, int len) { void sendUsb(uint16_t code, const char *data, int len) {
while (len > 0) { while (len > 0) {
int sz = len; int sz = len;
@ -490,14 +515,14 @@ void runLMS() {
} }
void stopMotors() { void stopMotors() {
uint8_t cmd[3] = { opOutputStop, 0x0F, 0 }; uint8_t cmd[3] = {opOutputStop, 0x0F, 0};
int fd = open("/dev/lms_pwm", O_RDWR); int fd = open("/dev/lms_pwm", O_RDWR);
write(fd, cmd, 3); write(fd, cmd, 3);
close(fd); close(fd);
} }
void stopProgram() { void stopProgram() {
uint8_t cmd[1] = { opOutputProgramStop }; uint8_t cmd[1] = {opOutputProgramStop};
int fd = open("/dev/lms_pwm", O_RDWR); int fd = open("/dev/lms_pwm", O_RDWR);
write(fd, cmd, 1); write(fd, cmd, 1);
close(fd); close(fd);
@ -519,6 +544,7 @@ void initRuntime() {
DMESG("runtime starting..."); DMESG("runtime starting...");
stopLMS(); stopLMS();
startUsb(); startUsb();
startExitThread();
pthread_t disp; pthread_t disp;
pthread_create(&disp, NULL, evtDispatcher, NULL); pthread_create(&disp, NULL, evtDispatcher, NULL);
pthread_detach(disp); pthread_detach(disp);