From 5ebb0d5d9668bd50b97a3d51105fcb87466566de Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Fri, 22 Feb 2019 10:57:48 -0500
Subject: [PATCH] rpi_rc_in move to px4 work queue

---
 src/drivers/rpi_rc_in/rpi_rc_in.cpp | 19 +++++--------------
 src/drivers/rpi_rc_in/rpi_rc_in.h   | 12 ++++--------
 2 files changed, 9 insertions(+), 22 deletions(-)

diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.cpp b/src/drivers/rpi_rc_in/rpi_rc_in.cpp
index 8262478508..da3e33aa94 100644
--- a/src/drivers/rpi_rc_in/rpi_rc_in.cpp
+++ b/src/drivers/rpi_rc_in/rpi_rc_in.cpp
@@ -42,7 +42,7 @@ RcInput::~RcInput()
 		_mem = nullptr;
 	}
 
-	work_cancel(HPWORK, &_work);
+	ScheduleClear();
 	_is_running = false;
 }
 
@@ -68,6 +68,7 @@ int RcInput::rpi_rc_init()
 
 	return 0;
 }
+
 int RcInput::start()
 {
 	int result = 0;
@@ -80,11 +81,8 @@ int RcInput::start()
 	}
 
 	_is_running = true;
-	result = work_queue(HPWORK, &_work, (worker_t) & RcInput::cycle_trampoline, this, 0);
 
-	if (result == -1) {
-		_is_running = false;
-	}
+	ScheduleNow();
 
 	return result;
 }
@@ -94,19 +92,12 @@ void RcInput::stop()
 	_should_exit = true;
 }
 
-void RcInput::cycle_trampoline(void *arg)
-{
-	RcInput *dev = reinterpret_cast<RcInput *>(arg);
-	dev->_cycle();
-}
-
-void RcInput::_cycle()
+void RcInput::Run()
 {
 	_measure();
 
 	if (!_should_exit) {
-		work_queue(HPWORK, &_work, (worker_t) & RcInput::cycle_trampoline, this,
-			   USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
+		ScheduleDelayed(RCINPUT_MEASURE_INTERVAL_US);
 	}
 }
 
diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.h b/src/drivers/rpi_rc_in/rpi_rc_in.h
index b301d8fab2..a956b8775d 100644
--- a/src/drivers/rpi_rc_in/rpi_rc_in.h
+++ b/src/drivers/rpi_rc_in/rpi_rc_in.h
@@ -49,7 +49,7 @@
 #include <unistd.h>
 
 #include <px4_config.h>
-#include <px4_workqueue.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_defines.h>
 
 #include <drivers/drv_hrt.h>
@@ -61,10 +61,10 @@
 
 namespace rpi_rc_in
 {
-class RcInput
+class RcInput, public px4::ScheduledWorkItem
 {
 public:
-	RcInput() = default;
+	RcInput() : ScheduledWorkItem(px4::wq_configurations::hp_default) {}
 
 	~RcInput();
 
@@ -74,23 +74,19 @@ public:
 	/** @return 0 on success, -errno on failure */
 	void stop();
 
-	/** Trampoline for the work queue. */
-	static void cycle_trampoline(void *arg);
-
 	bool is_running()
 	{
 		return _is_running;
 	}
 
 private:
-	void _cycle();
+	void Run() override;
 	void _measure();
 
 	int rpi_rc_init();
 
 	bool _should_exit = false;
 	bool _is_running = false;
-	struct work_s _work = {};
 	orb_advert_t _rcinput_pub = nullptr;
 	int _channels = 8; //D8R-II plus
 	struct input_rc_s _data = {};