px4_work_queue: add WorkItemSingleShot

To run a specific method on a work queue and wait for it to return.
2026-10-06 12:58:53 +08:00 · 2020-03-17 23:31:17 -04:00
parent 87cd20180c
commit 8c41025565
5 changed files with 160 additions and 0 deletions
@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_work_queue/WorkItemSingleShot.hpp>
+
+
+namespace px4
+{
+
+WorkItemSingleShot::WorkItemSingleShot(const px4::wq_config_t &config, worker_method method, void *argument)
+	: px4::WorkItem("<single_shot>", config), _argument(argument), _method(method)
+{
+	px4_sem_init(&_sem, 0, 0);
+}
+
+WorkItemSingleShot::WorkItemSingleShot(const px4::WorkItem &work_item, worker_method method, void *argument)
+	: px4::WorkItem("<single_shot>", work_item), _argument(argument), _method(method)
+{
+	px4_sem_init(&_sem, 0, 0);
+}
+
+WorkItemSingleShot::~WorkItemSingleShot()
+{
+	px4_sem_destroy(&_sem);
+}
+
+void WorkItemSingleShot::wait()
+{
+	while (px4_sem_wait(&_sem) != 0) {}
+}
+
+void WorkItemSingleShot::Run()
+{
+	_method(_argument);
+	px4_sem_post(&_sem);
+}
+
+
+} // namespace px4