src/lib/framework/src/driverFramework.cpp学习

			int Framework::initialize()
			{
			    DF_LOG_DEBUG("Framework::initialize");

			    g_framework = new SyncObj;                                                    //这个应该是各同步类

			    if (!g_framework) {
			        DF_LOG_ERR("ERROR: falled to allocate g_framework");
			        return -1;
			    }

			    g_run_status = new RunStatus;                                                //这个是状态标识

			    if (!g_run_status) {
			        DF_LOG_ERR("g_run_status allocation failed");
			        return -2;
			    }

			    struct timespec ts = {};

			    int ret = absoluteTime(ts);                                                   //获取绝对时间

			    if (ret != 0) {
			        DF_LOG_ERR("ERROR: absoluteTime returned (%d)", ret);
			        return -4;
			    }

			    ret = HRTWorkQueue::instance().initialize();                                //初始化worker的线程

			    if (ret < 0) {
			        return ret - 10;
			    }

			    DF_LOG_DEBUG("Calling DevMgr::initialize");
			    ret = DevMgr::initialize();                                                    //加了一个标志位true

			    if (ret < 0) {
			        return ret - 20;
			    }

			    DF_LOG_DEBUG("Calling WorkMgr::initialize");
			    ret = WorkMgr::initialize();                                                    //这里也加了一个标志位true

			    if (ret < 0) {
			        return ret - 30;
			    }

			    return 0;
			}

			class SyncObj
			{
			public:
			    SyncObj();                                                    //构造函数
			    ~SyncObj() = default;

			    void lock();                                                //对Mutex上锁
			    void unlock();                                              //解锁

			    // Returns 0 on success, ETIMEDOUT on timeout                //返回0成功， ETIMEDOUT是超时
			    // Use timeout_us = 0 for blocking wait                    //使用timeout_us =0作为阻塞等待
			    int waitOnSignal(unsigned long timeout_us);

			    void signal();

			private:
			    pthread_mutex_t m_lock{};                                    //这个大括号是C++11，统一初始化
			    pthread_cond_t    m_new_data_cond{};
			};