我正在开发一个在Raspberry Pi(linux)上运行的程序,该程序从GPS模块获取数据并进行处理。
现在,该程序以while(1)
循环为中心,该循环获取GPS数据并对其进行处理(数据以GPS模块的频率进行流式传输)。
然而,我知道while(1)
不是一个非常节能的解决方案,(这个RPi稍后将坐在无人机上)。
我想设置一个计时器,只有当计时器结束时,程序才会获取GPS数据。理想情况下,程序将完全停止,直到定时器结束,这样CPU就不会在上面浪费时间/精力
如果
sigaction()
调用中不允许SIGSTOP
信号,我该如何执行上述操作?
void timer_handler(int signum){
/* what can I do to make a program stop and coninue,
so that no CPU cycles are devoted to this program until
the timer is elapsed ? (SIGSTOP is not allowed) */
}
int main(int argc, char** argv){
struct sigaction sigAct;
struct itimerval timer;
sa.sa_handler = &timer_handler;
// SIGALRM is only a place holder here..
sigaction(SIGALRM, &sigAct, NULL);
/* Here would be some timer.it_value, timer.it_interval stuff,
setting it to some arbitrary time */
setitimer(ITIMER_REAL, &timer, NULL);
/* Main program loop here */
while(1){
// process GPS data.
// instead of while(1), I'd like this loop to run only when
// the timer ends.
}
}
在循环中,只需调用pause()
。它会阻塞,并且只有在收到信号时才会返回,因此您可以运行代码,再次循环,然后重复。您需要一个信号处理程序来阻止SIGALRM
终止您的程序,但它不必做任何事情,您只需将函数体留空即可。
例如:
#define _POSIX_C_SOURCE 200809L
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <sys/time.h>
void timer_handler(int signum)
{
(void) signum; /* Avoids warning for unused argument */
}
int main(void)
{
struct sigaction sa;
sa.sa_handler = timer_handler;
sa.sa_mask = 0;
sa.sa_flags = 0;
sigaction(SIGALRM, &sa, NULL);
struct itimerval timer;
timer.it_value.tv_sec = 1;
timer.it_value.tv_usec = 0;
timer.it_interval.tv_sec = 1;
timer.it_interval.tv_usec = 0;
setitimer(ITIMER_REAL, &timer, NULL);
while ( 1 ) {
pause();
printf("Timer expired - get GPS data.n");
}
return 0;
}
产量输出:
paul@horus:~/src/sandbox$ ./alarm
Timer expired - get GPS data.
Timer expired - get GPS data.
Timer expired - get GPS data.
Timer expired - get GPS data.
Timer expired - get GPS data.
Timer expired - get GPS data.
Timer expired - get GPS data.
Timer expired - get GPS data.
^C
paul@horus:~/src/sandbox$
这是一个相当粗糙的解决方案。如果代码有时可能需要比计时器间隔更长的时间来运行,那么事情就会变得不可靠,有时你可能会跳过信号。你可能在乎,也可能不在乎。对于更复杂的方法,您可以阻止接收SIGALRM
,然后使用信号掩码调用sigsuspend()
来解除锁定,因为解除锁定和等待信号将是一个原子操作。以下是这种方法的一个例子:
#define _POSIX_C_SOURCE 200809L
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <sys/time.h>
void timer_handler(int signum)
{
static const char msg[] = "Handler was called.n";
write(STDIN_FILENO, msg, sizeof(msg) - 1);
(void) signum;
}
int main(void)
{
struct sigaction sa;
sa.sa_handler = timer_handler;
sa.sa_mask = 0;
sa.sa_flags = 0;
sigaction(SIGALRM, &sa, NULL);
struct itimerval timer;
timer.it_value.tv_sec = 1;
timer.it_value.tv_usec = 0;
timer.it_interval.tv_sec = 1;
timer.it_interval.tv_usec = 0;
setitimer(ITIMER_REAL, &timer, NULL);
sigset_t old_mask, block_mask;
sigemptyset(&block_mask);
sigaddset(&block_mask, SIGALRM);
sigprocmask(SIG_BLOCK, &block_mask, &old_mask);
sleep(3); /* To demonstrate signal handler won't be
called until sigsuspend() is called, timer
is firing every second while we're sleeping */
while ( 1 ) {
sigsuspend(&old_mask);
printf("Timer expired - get GPS data.n");
}
return 0;
}
输出:
paul@horus:~/src/sandbox$ ./alarm2
Handler was called.
Timer expired - get GPS data.
Handler was called.
Timer expired - get GPS data.
Handler was called.
Timer expired - get GPS data.
Handler was called.
Timer expired - get GPS data.
Handler was called.
Timer expired - get GPS data.
Handler was called.
Timer expired - get GPS data.
^C
paul@horus:~/src/sandbox$
为了简洁起见,上面的示例中省略了错误检查,但您的代码当然应该为每个系统调用都包含它。