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px4_work_queue: command line status output and shutdown empty queues

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* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
 * WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
This commit is contained in:
Daniel Agar
2019-10-02 12:23:17 -04:00
committed by GitHub
parent cc1d86bc0b
commit 26364d44c9
167 changed files with 582 additions and 274 deletions
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platforms/common/px4_work_queue/ScheduledWorkItem.cpp
+23 -4
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@@ -41,25 +41,44 @@ ScheduledWorkItem::~ScheduledWorkItem()
ScheduleClear();
}
void ScheduledWorkItem::schedule_trampoline(void *arg)
void
ScheduledWorkItem::schedule_trampoline(void *arg)
{
ScheduledWorkItem *dev = reinterpret_cast<ScheduledWorkItem *>(arg);
dev->ScheduleNow();
}
void ScheduledWorkItem::ScheduleDelayed(uint32_t delay_us)
void
ScheduledWorkItem::ScheduleDelayed(uint32_t delay_us)
{
hrt_call_after(&_call, delay_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
}
void ScheduledWorkItem::ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us)
void
ScheduledWorkItem::ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us)
{
// reset start time to first deadline (approximately)
_start_time = hrt_absolute_time() + interval_us + delay_us;
hrt_call_every(&_call, delay_us, interval_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
}
void ScheduledWorkItem::ScheduleClear()
void
ScheduledWorkItem::ScheduleClear()
{
hrt_cancel(&_call);
}
void
ScheduledWorkItem::print_run_status() const
{
if (_call.period > 0) {
PX4_INFO_RAW("%-24s %8.1f Hz %12.1f us (%" PRId64 " us)\n", _item_name, (double)average_rate(),
(double)average_interval(), _call.period);
} else {
WorkItem::print_run_status();
}
}
} // namespace px4