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px4_work_queue: minor status changes

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- only record start time on first run rather than init
 - increase name length
 - round average interval to nearest microsecond
 - basic formatting consistency (google style guide)
This commit is contained in:
Daniel Agar
2020-05-19 12:49:42 -04:00
parent dd9c82eb20
commit 8ee0a5d328
6 changed files with 49 additions and 67 deletions
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platforms/common/px4_work_queue/ScheduledWorkItem.cpp
+6 -14
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@@ -41,41 +41,33 @@ ScheduledWorkItem::~ScheduledWorkItem()
ScheduleClear();
}
void
ScheduledWorkItem::schedule_trampoline(void *arg)
void ScheduledWorkItem::schedule_trampoline(void *arg)
{
ScheduledWorkItem *dev = static_cast<ScheduledWorkItem *>(arg);
dev->ScheduleNow();
}
void
ScheduledWorkItem::ScheduleDelayed(uint32_t delay_us)
void ScheduledWorkItem::ScheduleDelayed(uint32_t delay_us)
{
hrt_call_after(&_call, delay_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
}
void
ScheduledWorkItem::ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us)
void ScheduledWorkItem::ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us)
{
// reset start time to first deadline (approximately)
_start_time = hrt_absolute_time() + interval_us + delay_us;
hrt_call_every(&_call, delay_us, interval_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
}
void
ScheduledWorkItem::ScheduleClear()
void ScheduledWorkItem::ScheduleClear()
{
// first clear any scheduled hrt call, then remove the item from the runnable queue
hrt_cancel(&_call);
WorkItem::ScheduleClear();
}
void
ScheduledWorkItem::print_run_status() const
void ScheduledWorkItem::print_run_status() const
{
if (_call.period > 0) {
PX4_INFO_RAW("%-24s %8.1f Hz %12.1f us (%" PRId64 " us)\n", _item_name, (double)average_rate(),
PX4_INFO_RAW("%-26s %8.1f Hz %12.0f us (%" PRId64 " us)\n", _item_name, (double)average_rate(),
(double)average_interval(), _call.period);
} else {