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blinkm move to px4 work queue

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This commit is contained in:
Daniel Agar
2019-05-24 12:58:55 -04:00
parent cdb207804d
commit d8dd592d20
1 changed files with 10 additions and 27 deletions
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src/drivers/lights/blinkm/blinkm.cpp
+10 -27
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@@ -108,7 +108,7 @@
#include <ctype.h> #include <ctype.h>
#include <poll.h> #include <poll.h>
#include <px4_workqueue.h> #include <px4_work_queue/ScheduledWorkItem.hpp>
#include <perf/perf_counter.h> #include <perf/perf_counter.h>
#include <systemlib/err.h> #include <systemlib/err.h>
@@ -131,7 +131,7 @@ static const int LED_OFFTIME = 120;
static const int LED_BLINK = 1; static const int LED_BLINK = 1;
static const int LED_NOBLINK = 0; static const int LED_NOBLINK = 0;
class BlinkM : public device::I2C class BlinkM : public device::I2C, public px4::ScheduledWorkItem
{ {
public: public:
BlinkM(int bus, int blinkm); BlinkM(int bus, int blinkm);
@@ -181,8 +181,6 @@ private:
LED_AMBER LED_AMBER
}; };
work_s _work;
int led_color_1; int led_color_1;
int led_color_2; int led_color_2;
int led_color_3; int led_color_3;
@@ -216,8 +214,8 @@ private:
int num_of_used_sats; int num_of_used_sats;
void setLEDColor(int ledcolor); void setLEDColor(int ledcolor);
static void led_trampoline(void *arg);
void led(); void Run() override;
int set_rgb(uint8_t r, uint8_t g, uint8_t b); int set_rgb(uint8_t r, uint8_t g, uint8_t b);
@@ -276,11 +274,8 @@ const char *const BlinkM::script_names[] = {
extern "C" __EXPORT int blinkm_main(int argc, char *argv[]); extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
BlinkM::BlinkM(int bus, int blinkm) : BlinkM::BlinkM(int bus, int blinkm) :
I2C("blinkm", BLINKM0_DEVICE_PATH, bus, blinkm I2C("blinkm", BLINKM0_DEVICE_PATH, bus, blinkm, 100000),
#ifdef __PX4_NUTTX ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
, 100000
#endif
),
led_color_1(LED_OFF), led_color_1(LED_OFF),
led_color_2(LED_OFF), led_color_2(LED_OFF),
led_color_3(LED_OFF), led_color_3(LED_OFF),
@@ -308,14 +303,12 @@ BlinkM::BlinkM(int bus, int blinkm) :
led_thread_ready(true), led_thread_ready(true),
num_of_used_sats(0) num_of_used_sats(0)
{ {
memset(&_work, 0, sizeof(_work));
} }
int int
BlinkM::init() BlinkM::init()
{ {
int ret; int ret = I2C::init();
ret = I2C::init();
if (ret != OK) { if (ret != OK) {
warnx("I2C init failed"); warnx("I2C init failed");
@@ -336,7 +329,7 @@ BlinkM::setMode(int mode)
stop_script(); stop_script();
set_rgb(0, 0, 0); set_rgb(0, 0, 0);
systemstate_run = true; systemstate_run = true;
work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1); ScheduleNow();
} }
} else { } else {
@@ -415,17 +408,7 @@ BlinkM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
void void
BlinkM::led_trampoline(void *arg) BlinkM::Run()
{
BlinkM *bm = (BlinkM *)arg;
bm->led();
}
void
BlinkM::led()
{ {
if (!topic_initialized) { if (!topic_initialized) {
@@ -790,7 +773,7 @@ BlinkM::led()
if (systemstate_run == true) { if (systemstate_run == true) {
/* re-queue ourselves to run again later */ /* re-queue ourselves to run again later */
work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval); ScheduleDelayed(led_interval);
} else { } else {
stop_script(); stop_script();