px4_work_queue: command line status output and shutdown empty queues

* 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

src/modules/sensors/CMakeLists.txt

@@ -53,6 +53,6 @@ px4_add_module(
 		git_ecl
 		ecl_validation
 		mathlib
-		sensors__vehicle_acceleration
-		sensors__vehicle_angular_velocity
+		vehicle_acceleration
+		vehicle_angular_velocity
 	)

src/modules/sensors/vehicle_acceleration/CMakeLists.txt

@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(sensors__vehicle_acceleration
+px4_add_library(vehicle_acceleration
 	VehicleAcceleration.cpp
 )
-target_link_libraries(sensors__vehicle_acceleration PRIVATE px4_work_queue)
+target_link_libraries(vehicle_acceleration PRIVATE px4_work_queue)

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp

@@ -40,9 +40,8 @@ using namespace time_literals;
 
 VehicleAcceleration::VehicleAcceleration() :
 	ModuleParams(nullptr),
-	WorkItem(px4::wq_configurations::att_pos_ctrl),
+	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
 	_cycle_perf(perf_alloc(PC_ELAPSED, "vehicle_acceleration: cycle time")),
-	_interval_perf(perf_alloc(PC_INTERVAL, "vehicle_acceleration: interval")),
 	_sensor_latency_perf(perf_alloc(PC_ELAPSED, "vehicle_acceleration: sensor latency"))
 {
 }
@@ -52,7 +51,6 @@ VehicleAcceleration::~VehicleAcceleration()
 	Stop();
 
 	perf_free(_cycle_perf);
-	perf_free(_interval_perf);
 	perf_free(_sensor_latency_perf);
 }
 
@@ -178,7 +176,6 @@ void
 VehicleAcceleration::Run()
 {
 	perf_begin(_cycle_perf);
-	perf_count(_interval_perf);
 
 	// update corrections first to set _selected_sensor
 	SensorCorrectionsUpdate();
@@ -220,6 +217,5 @@ VehicleAcceleration::PrintStatus()
 	PX4_INFO("selected sensor: %d", _selected_sensor);
 
 	perf_print_counter(_cycle_perf);
-	perf_print_counter(_interval_perf);
 	perf_print_counter(_sensor_latency_perf);
 }

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp

@@ -102,7 +102,6 @@ private:
 	matrix::Vector3f			_bias;
 
 	perf_counter_t				_cycle_perf;
-	perf_counter_t				_interval_perf;
 	perf_counter_t				_sensor_latency_perf;
 
 	uint8_t					_selected_sensor{0};

src/modules/sensors/vehicle_angular_velocity/CMakeLists.txt

@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(sensors__vehicle_angular_velocity
+px4_add_library(vehicle_angular_velocity
 	VehicleAngularVelocity.cpp
 )
-target_link_libraries(sensors__vehicle_angular_velocity PRIVATE px4_work_queue)
+target_link_libraries(vehicle_angular_velocity PRIVATE px4_work_queue)

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -40,9 +40,8 @@ using namespace time_literals;
 
 VehicleAngularVelocity::VehicleAngularVelocity() :
 	ModuleParams(nullptr),
-	WorkItem(px4::wq_configurations::rate_ctrl),
+	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
 	_cycle_perf(perf_alloc(PC_ELAPSED, "vehicle_angular_velocity: cycle time")),
-	_interval_perf(perf_alloc(PC_INTERVAL, "vehicle_angular_velocity: interval")),
 	_sensor_latency_perf(perf_alloc(PC_ELAPSED, "vehicle_angular_velocity: sensor latency"))
 {
 }
@@ -52,7 +51,6 @@ VehicleAngularVelocity::~VehicleAngularVelocity()
 	Stop();
 
 	perf_free(_cycle_perf);
-	perf_free(_interval_perf);
 	perf_free(_sensor_latency_perf);
 }
 
@@ -217,7 +215,6 @@ void
 VehicleAngularVelocity::Run()
 {
 	perf_begin(_cycle_perf);
-	perf_count(_interval_perf);
 
 	// update corrections first to set _selected_sensor
 	SensorCorrectionsUpdate();
@@ -296,6 +293,5 @@ VehicleAngularVelocity::PrintStatus()
 	}
 
 	perf_print_counter(_cycle_perf);
-	perf_print_counter(_interval_perf);
 	perf_print_counter(_sensor_latency_perf);
 }

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -110,7 +110,6 @@ private:
 	matrix::Vector3f			_bias;
 
 	perf_counter_t				_cycle_perf;
-	perf_counter_t				_interval_perf;
 	perf_counter_t				_sensor_latency_perf;
 
 	uint32_t				_selected_sensor_device_id{0};