fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

leddar_one move to px4 work queue

Browse Source
This commit is contained in:
Daniel Agar 2019-02-22 10:42:30 -05:00
parent 9a0f145fc0
commit 4d41dcaee2
1 changed files with 12 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
src/drivers/distance_sensor/leddar_one/leddar_one.cpp
View File

@ -32,7 +32,7 @@
****************************************************************************/
#include <px4_config.h>
#include <px4_workqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_getopt.h>
#include <px4_defines.h>
#include <px4_module.h>
@ -109,20 +109,19 @@ struct __attribute__((__packed__)) reading_msg {
uint16_t crc; /* little-endian */
};
class leddar_one : public cdev::CDev
class leddar_one : public cdev::CDev, public px4::ScheduledWorkItem
{
public:
leddar_one(const char *device_path, const char *serial_port, uint8_t rotation);
virtual ~leddar_one();
virtual int init();
virtual int init() override;
void start();
void stop();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
private:
work_s _work;
int _fd = -1;
const char *_serial_port;
@ -151,7 +150,7 @@ private:
void _publish(uint16_t distance_cm);
int _cycle();
static void cycle_trampoline(void *arg);
void Run() override;
};
extern "C" __EXPORT int leddar_one_main(int argc, char *argv[]);
@ -269,12 +268,12 @@ int leddar_one_main(int argc, char *argv[])
leddar_one::leddar_one(const char *device_path, const char *serial_port, uint8_t rotation):
CDev(device_path),
ScheduledWorkItem(px4::wq_configurations::hp_default),
_rotation(rotation),
_collect_timeout_perf(perf_alloc(PC_COUNT, "leddar_one_collect_timeout")),
_comm_error(perf_alloc(PC_COUNT, "leddar_one_comm_errors")),
_sample_perf(perf_alloc(PC_ELAPSED, "leddar_one_sample"))
{
memset(&_work, 0, sizeof(_work));
_serial_port = strdup(serial_port);
}
@ -394,7 +393,7 @@ int leddar_one::init()
void
leddar_one::stop()
{
work_cancel(HPWORK, &_work);
ScheduleClear();
}
void leddar_one::start()
@ -407,23 +406,20 @@ void leddar_one::start()
::close(_fd);
_fd = -1;
work_queue(HPWORK, &_work, (worker_t)&leddar_one::cycle_trampoline, this, USEC2TICK(WORK_USEC_INTERVAL));
ScheduleDelayed(WORK_USEC_INTERVAL);
}
void
leddar_one::cycle_trampoline(void *arg)
leddar_one::Run()
{
leddar_one *dev = reinterpret_cast<leddar_one * >(arg);
if (dev->_fd != -1) {
dev->_cycle();
if (_fd != -1) {
_cycle();
} else {
dev->_fd_open();
_fd_open();
}
work_queue(HPWORK, &(dev->_work), (worker_t)&leddar_one::cycle_trampoline,
dev, USEC2TICK(WORK_USEC_INTERVAL));
ScheduleDelayed(WORK_USEC_INTERVAL);
}
void leddar_one::_publish(uint16_t distance_mm)