From: Mikko Rasa <tdb@tdb.fi>
Date: Mon, 16 Feb 2015 00:17:03 +0000 (+0200)
Subject: Turn ArduControl command_queue into a Task
X-Git-Url: http://git.tdb.fi/?a=commitdiff_plain;h=aa48746158b19ad795a3cc656c4dfe17044baf54;p=r2c2.git

Turn ArduControl command_queue into a Task

It seems that I was thinking of this back in d5d8ee8, but left it
unfinished probably because it was simpler to use a Queue directly.  Now
some upcoming task management improvements call for it to be a Task.
---

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 6d75c75..4acfc60 100644
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -702,6 +702,17 @@ bool ArduControl::Queue<T>::empty() const
 }
 
 
+bool ArduControl::CommandQueueTask::get_work(PendingCommand &cmd)
+{
+	return queue.pop(cmd);
+}
+
+void ArduControl::CommandQueueTask::push(const PendingCommand &cmd)
+{
+	queue.push(cmd);
+}
+
+
 ArduControl::RefreshTask::RefreshTask():
 	next(cycle.end()),
 	round(0),
@@ -1035,6 +1046,7 @@ ArduControl::ControlThread::ControlThread(ArduControl &c):
 	control(c),
 	done(false)
 {
+	tasks.push_back(&control.command_queue);
 	tasks.push_back(&control.monitor);
 	tasks.push_back(&control.mfx_announce);
 	tasks.push_back(&control.mfx_search);
@@ -1156,9 +1168,6 @@ void ArduControl::ControlThread::init_baud_rate()
 
 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
 {
-	if(control.command_queue.pop(cmd))
-		return true;
-
 	for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
 		if((*i)->get_work(cmd))
 			return true;
diff --git a/source/libr2c2/arducontrol.h b/source/libr2c2/arducontrol.h
index ad14e2d..4373a84 100644
--- a/source/libr2c2/arducontrol.h
+++ b/source/libr2c2/arducontrol.h
@@ -241,6 +241,9 @@ private:
 
 	public:
 		virtual bool get_work(PendingCommand &);
+
+		void push(const PendingCommand &);
+		bool empty() const { return queue.empty(); }
 	};
 
 	class RefreshTask: public Task
@@ -387,7 +390,7 @@ private:
 	SensorMap sensors;
 
 	Msp::Time::TimeDelta command_timeout;
-	Queue<PendingCommand> command_queue;
+	CommandQueueTask command_queue;
 	Queue<Tag> completed_commands;
 	RefreshTask refresh;
 	S88Task s88;