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rc_input: move to PX4 WQ

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This commit is contained in:
Daniel Agar
2020-01-08 13:00:59 -05:00
committed by GitHub
parent ef9a930816
commit 5f1121c216
2 changed files with 42 additions and 149 deletions
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src/drivers/rc_input/RCInput.hpp
+8 -23
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -48,9 +48,9 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/workqueue.h>
#include <uORB/Subscription.hpp>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/adc_report.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/vehicle_command.h>
@@ -61,19 +61,16 @@
# include <systemlib/ppm_decode.h>
#endif
class RCInput : public ModuleBase<RCInput>
class RCInput : public ModuleBase<RCInput>, public px4::ScheduledWorkItem
{
public:
RCInput(bool run_as_task, char *device);
RCInput(const char *device);
virtual ~RCInput();
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static RCInput *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
@@ -81,12 +78,7 @@ public:
static int print_usage(const char *reason = nullptr);
/** @see ModuleBase::run() */
void run() override;
/**
* run the main loop: if running as task, continuously iterate, otherwise execute only one single cycle
*/
void cycle();
void Run() override;
/** @see ModuleBase::print_status() */
int print_status() override;
@@ -114,14 +106,11 @@ private:
hrt_abstime _rc_scan_begin{0};
bool _initialized{false};
bool _rc_scan_locked{false};
bool _report_lock{true};
unsigned _current_update_interval{4000};
bool _run_as_task{false};
static struct work_s _work;
static constexpr unsigned _current_update_interval{4000}; // 250 Hz
uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
uORB::Subscription _adc_sub{ORB_ID(adc_report)};
@@ -146,10 +135,6 @@ private:
perf_counter_t _cycle_perf;
perf_counter_t _publish_interval_perf;
static void cycle_trampoline(void *arg);
static void cycle_trampoline_init(void *arg);
int start();
void fill_rc_in(uint16_t raw_rc_count_local,
uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool frame_drop, bool failsafe,