[DO NOT MERGE] test param save from HPWORK

platforms/common/work_queue/work_thread.c

@@ -204,6 +204,7 @@ void work_queues_init(void)
 						work_hpthread,
 						(char *const *)NULL);
 
+#ifdef CONFIG_SCHED_LPWORK
 	// Create low priority worker thread
 	g_work[LPWORK].pid = px4_task_spawn_cmd("lpwork",
 						SCHED_DEFAULT,
@@ -211,6 +212,7 @@ void work_queues_init(void)
 						2000,
 						work_lpthread,
 						(char *const *)NULL);
+#endif /* CONFIG_SCHED_LPWORK */
 
 }
 
@@ -260,7 +262,7 @@ int work_hpthread(int argc, char *argv[])
 		 */
 
 #ifndef CONFIG_SCHED_LPWORK
-		sched_garbagecollection();
+		//sched_garbagecollection();
 #endif
 
 		/* Then process queued work.  We need to keep interrupts disabled while

platforms/common/work_queue/wqueue_test/wqueue_test.cpp

@@ -55,27 +55,6 @@ void WQueueTest::hp_worker_cb(void *p)
 	wqep->do_hp_work();
 }
 
-void WQueueTest::lp_worker_cb(void *p)
-{
-	WQueueTest *wqep = (WQueueTest *)p;
-
-	wqep->do_lp_work();
-}
-
-void WQueueTest::do_lp_work()
-{
-	static int iter = 0;
-	printf("done lp work\n");
-
-	if (iter > 5) {
-		_lpwork_done = true;
-	}
-
-	++iter;
-
-	work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1000);
-}
-
 void WQueueTest::do_hp_work()
 {
 	static int iter = 0;
@@ -98,11 +77,6 @@ int WQueueTest::main()
 	//Put work on HP work queue
 	work_queue(HPWORK, &_hpwork, (worker_t)&hp_worker_cb, this, 1000);
 
-
-	//Put work on LP work queue
-	work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1000);
-
-
 	// Wait for work to finsh
 	while (!appState.exitRequested() && !(_hpwork_done && _lpwork_done)) {
 		printf("  Sleeping for 2 sec...\n");

platforms/common/work_queue/wqueue_test/wqueue_test.h

@@ -54,13 +54,10 @@ public:
 	static px4::AppState appState; /* track requests to terminate app */
 private:
 	static void hp_worker_cb(void *p);
-	static void lp_worker_cb(void *p);
 
-	void do_lp_work(void);
 	void do_hp_work(void);
 
-	bool _lpwork_done {false};
 	bool _hpwork_done {false};
-	work_s _lpwork {};
+
 	work_s _hpwork {};
 };

platforms/posix/include/system_config.h

@@ -57,7 +57,6 @@
 #define CONFIG_NFILE_STREAMS 1
 #define CONFIG_SCHED_WORKQUEUE 1
 #define CONFIG_SCHED_HPWORK 1
-#define CONFIG_SCHED_LPWORK 1
 
 /** time in ms between checks for work in work queues **/
 #define CONFIG_SCHED_WORKPERIOD 50000