Subject:
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Global Objects was Strange RCX startup issues
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Tue, 9 Dec 2003 22:31:35 GMT
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Viewed:
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5024 times
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Mark,
This is an interesting issue. Initially, after reading your post, I was
thinking that it would be easy to add this support to BrickOS. Of
course, this is only partially correct.
For NON Task Manager builds (therefore no Program manager), it is easy
to plug your code into the kernel.
For Task Manager builds *without* the Program Manager, it is possible,
but not as easy (have to wrap main as you did here)
For Task Manager builds with the Program Manager, this is the tricky
part. The issue is WHEN to call the ctors and dtors.
Also, I have a question (because of my limited knowledge of how the
__ctors and __dtors are managed): Would the two *for* loops in your
sample code call the ctors and dtors for all global objects, regardless
of which program they belong (assuming Task Management and Program
Management is built)? Would it be correct to validate that the function
pointer is pointing to a function within the current program code before
calling it?
// Joe
Mark Riley wrote:
[snip]
>
> #include <config.h>
> #include <c++/Motor.H>
> #include <conio.h>
> #include <unistd.h>
>
> // Call the constructors & destructors of global objects
>
> typedef void (*Ftor)();
> extern "C" Ftor __ctors[], __ctors_end[];
> extern "C" Ftor __dtors[], __dtors_end[];
> int main2();
>
> int main()
> {
> Ftor* f;
> int r;
>
> // call constructors
> for (f = __ctors; f != __ctors_end; f++)
> (*f)();
>
> r = main2();
>
> // call destructors
> for (f = __dtors; f != __dtors_end; f++)
> (*f)();
>
> return r;
> }
>
> // Test motor object
>
> Motor m(Motor::A);
>
> int main2()
> {
> while (!shutdown_requested())
> {
> m.forward();
> m.speed(m.max);
> cputs("F");
> sleep(1);
>
> m.reverse();
> m.speed((m.max + m.min) / 2);
> cputs("r");
> sleep(1);
> }
>
> return 0;
> }
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Message has 1 Reply:
Message is in Reply To:
 | | Re: Strange RCX startup issues
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| (...) This was only a problem when using certain firmware downloaders. If you use firmdl3, then you should be fine. (...) As far as I can tell, I don't think there is any provision in BrickOS to call the constructors and destructors of globals & (...) (21 years ago, 9-Dec-03, to lugnet.robotics.rcx.legos)
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