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utilities: use nanosleep() instead of usleep() for upm_delay*() functions

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usleep() has been deprecated, and can cause compile problems on never
glibc versions (debian jesse).  We now use nanosleep() on linux
systems to implement delays.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson 2017-02-02 12:26:54 -07:00
parent d2e0327c30
commit 90d856d128
2 changed files with 35 additions and 9 deletions
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38
src/utilities/upm_utilities.c
View File

@ -23,17 +23,29 @@
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <time.h>
#include <errno.h>
#include <upm_platform.h>
#include <upm_utilities.h>
void upm_delay(int time)
void upm_delay(unsigned int time)
{
if (time <= 0)
time = 1;
#if defined(UPM_PLATFORM_LINUX)
sleep(time);
struct timespec delay_time;
delay_time.tv_sec = time;
delay_time.tv_nsec = 0;
// The advantage over sleep(3) here is that it will not use
// an alarm signal or handler.
// here we spin until the delay is complete - detecting signals
// and continuing where we left off
while (nanosleep(&delay_time, &delay_time) && errno == EINTR)
; // loop
#elif defined(UPM_PLATFORM_ZEPHYR)
# if KERNEL_VERSION_MAJOR == 1 && KERNEL_VERSION_MINOR >= 6
@ -56,14 +68,21 @@ void upm_delay(int time)
#endif
}
void upm_delay_ms(int time)
void upm_delay_ms(unsigned int time)
{
if (time <= 0)
time = 1;
#if defined(UPM_PLATFORM_LINUX)
usleep(1000 * time);
struct timespec delay_time;
delay_time.tv_sec = time / 1000;
delay_time.tv_nsec = (time % 1000) * 1000000;
// here we spin until the delay is complete - detecting signals
// and continuing where we left off
while (nanosleep(&delay_time, &delay_time) && errno == EINTR)
; // loop
#elif defined(UPM_PLATFORM_ZEPHYR)
# if KERNEL_VERSION_MAJOR == 1 && KERNEL_VERSION_MINOR >= 6
@ -85,14 +104,21 @@ void upm_delay_ms(int time)
#endif
}
void upm_delay_us(int time)
void upm_delay_us(unsigned int time)
{
if (time <= 0)
time = 1;
#if defined(UPM_PLATFORM_LINUX)
usleep(time);
struct timespec delay_time;
delay_time.tv_sec = time / 1000000;
delay_time.tv_nsec = (time % 1000000) * 1000;
// here we spin until the delay is complete - detecting signals
// and continuing where we left off
while (nanosleep(&delay_time, &delay_time) && errno == EINTR)
; // loop
#elif defined(UPM_PLATFORM_ZEPHYR)
# if KERNEL_VERSION_MAJOR == 1 && KERNEL_VERSION_MINOR >= 6

6
src/utilities/upm_utilities.h
View File

@ -69,21 +69,21 @@ typedef uint32_t upm_clock_t;
*
* @param time The number of seconds to delay for
*/
void upm_delay(int time);
void upm_delay(unsigned int time);
/**
* Delay for a number of milliseconds
*
* @param time The number of milliseconds to delay for
*/
void upm_delay_ms(int time);
void upm_delay_ms(unsigned int time);
/**
* Delay for a number of microseconds
*
* @param time The number of microseconds to delay for
*/
void upm_delay_us(int time);
void upm_delay_us(unsigned int time);
/**
* Initialize a clock. This can be used with upm_elapsed_ms() and