diff --git a/src/drivers/distance_sensor/tfmini/tfmini.cpp b/src/drivers/distance_sensor/tfmini/tfmini.cpp index d8be15767d..6c429334ba 100644 --- a/src/drivers/distance_sensor/tfmini/tfmini.cpp +++ b/src/drivers/distance_sensor/tfmini/tfmini.cpp @@ -43,7 +43,7 @@ */ #include -#include +#include #include #include @@ -82,20 +82,16 @@ /* Configuration Constants */ -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - -class TFMINI : public cdev::CDev +class TFMINI : public cdev::CDev, public px4::ScheduledWorkItem { public: TFMINI(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING); virtual ~TFMINI(); - virtual int init(); + virtual int init() override; - virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen); - virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg); + virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen) override; + virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg) override; /** * Diagnostics - print some basic information about the driver. @@ -108,9 +104,8 @@ private: float _min_distance; float _max_distance; int _conversion_interval; - work_s _work{}; ringbuffer::RingBuffer *_reports; - int _measure_ticks; + int _measure_interval; bool _collect_phase; int _fd; char _linebuf[10]; @@ -151,18 +146,9 @@ private: * Perform a poll cycle; collect from the previous measurement * and start a new one. */ - void cycle(); + void Run() override; int collect(); - /** - * Static trampoline from the workq context; because we don't have a - * generic workq wrapper yet. - * - * @param arg Instance pointer for the driver that is polling. - */ - static void cycle_trampoline(void *arg); - - }; /* @@ -172,12 +158,13 @@ extern "C" __EXPORT int tfmini_main(int argc, char *argv[]); TFMINI::TFMINI(const char *port, uint8_t rotation) : CDev(RANGE_FINDER0_DEVICE_PATH), + ScheduledWorkItem(px4::wq_configurations::hp_default), _rotation(rotation), _min_distance(0.30f), _max_distance(12.0f), _conversion_interval(9000), _reports(nullptr), - _measure_ticks(0), + _measure_interval(0), _collect_phase(false), _fd(-1), _linebuf_index(0), @@ -191,6 +178,7 @@ TFMINI::TFMINI(const char *port, uint8_t rotation) : { /* store port name */ strncpy(_port, port, sizeof(_port) - 1); + /* enforce null termination */ _port[sizeof(_port) - 1] = '\0'; } @@ -370,10 +358,10 @@ TFMINI::ioctl(device::file_t *filp, int cmd, unsigned long arg) /* set default polling rate */ case SENSOR_POLLRATE_DEFAULT: { /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); + bool want_start = (_measure_interval == 0); /* set interval for next measurement to minimum legal value */ - _measure_ticks = USEC2TICK(_conversion_interval); + _measure_interval = (_conversion_interval); /* if we need to start the poll state machine, do it */ if (want_start) { @@ -387,18 +375,18 @@ TFMINI::ioctl(device::file_t *filp, int cmd, unsigned long arg) default: { /* do we need to start internal polling? */ - bool want_start = (_measure_ticks == 0); + bool want_start = (_measure_interval == 0); /* convert hz to tick interval via microseconds */ - int ticks = USEC2TICK(1000000 / arg); + int interval = (1000000 / arg); /* check against maximum rate */ - if (ticks < USEC2TICK(_conversion_interval)) { + if (interval < _conversion_interval) { return -EINVAL; } /* update interval for next measurement */ - _measure_ticks = ticks; + _measure_interval = interval; /* if we need to start the poll state machine, do it */ if (want_start) { @@ -429,7 +417,7 @@ TFMINI::read(device::file_t *filp, char *buffer, size_t buflen) } /* if automatic measurement is enabled */ - if (_measure_ticks > 0) { + if (_measure_interval > 0) { /* * While there is space in the caller's buffer, and reports, copy them. @@ -567,25 +555,17 @@ TFMINI::start() _reports->flush(); /* schedule a cycle to start things */ - work_queue(HPWORK, &_work, (worker_t)&TFMINI::cycle_trampoline, this, 1); + ScheduleNow(); } void TFMINI::stop() { - work_cancel(HPWORK, &_work); + ScheduleClear(); } void -TFMINI::cycle_trampoline(void *arg) -{ - TFMINI *dev = (TFMINI *)arg; - - dev->cycle(); -} - -void -TFMINI::cycle() +TFMINI::Run() { /* fds initialized? */ if (_fd < 0) { @@ -601,11 +581,8 @@ TFMINI::cycle() if (collect_ret == -EAGAIN) { /* reschedule to grab the missing bits, time to transmit 9 bytes @ 115200 bps */ - work_queue(HPWORK, - &_work, - (worker_t)&TFMINI::cycle_trampoline, - this, - USEC2TICK(87 * 9)); + ScheduleDelayed(87 * 9); + return; } @@ -615,14 +592,10 @@ TFMINI::cycle() /* * Is there a collect->measure gap? */ - if (_measure_ticks > USEC2TICK(_conversion_interval)) { - - /* schedule a fresh cycle call when we are ready to measure again */ - work_queue(HPWORK, - &_work, - (worker_t)&TFMINI::cycle_trampoline, - this, - _measure_ticks - USEC2TICK(_conversion_interval)); + if (_measure_interval > (_conversion_interval)) { + /* schedule a fresh cycle call when + * we are ready to measure again */ + ScheduleDelayed(_measure_interval - _conversion_interval); return; } @@ -632,11 +605,7 @@ TFMINI::cycle() _collect_phase = true; /* schedule a fresh cycle call when the measurement is done */ - work_queue(HPWORK, - &_work, - (worker_t)&TFMINI::cycle_trampoline, - this, - USEC2TICK(_conversion_interval)); + ScheduleDelayed(_conversion_interval); } void @@ -645,7 +614,7 @@ TFMINI::print_info() printf("Using port '%s'\n", _port); perf_print_counter(_sample_perf); perf_print_counter(_comms_errors); - printf("poll interval: %d ticks\n", _measure_ticks); + printf("poll interval: %d \n", _measure_interval); _reports->print_info("report queue"); }