tone_alarm move to px4 work queue

src/drivers/tone_alarm/ToneAlarm.cpp

@@ -40,7 +40,8 @@
 #include <px4_time.h>
 
 ToneAlarm::ToneAlarm() :
-	CDev(TONE_ALARM0_DEVICE_PATH)
+	CDev(TONE_ALARM0_DEVICE_PATH),
+	ScheduledWorkItem(px4::wq_configurations::hp_default)
 {
 }
 
@@ -65,7 +66,9 @@ int ToneAlarm::init()
 	ToneAlarmInterface::init();
 
 	_running = true;
-	work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, 0);
+
+	ScheduleNow();
+
 	return OK;
 }
 
@@ -122,13 +125,12 @@ void ToneAlarm::next_note()
 	}
 
 	// Schedule a callback when the note should stop.
-	work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(duration));
+	ScheduleDelayed(duration);
 }
 
-void ToneAlarm::next_trampoline(void *argv)
+void ToneAlarm::Run()
 {
-	ToneAlarm *toneAlarm = (ToneAlarm *)argv;
-	toneAlarm->next_note();
+	next_note();
 }
 
 void ToneAlarm::orb_update()
@@ -177,9 +179,6 @@ void ToneAlarm::stop_note()
 	ToneAlarmInterface::stop_note();
 }
 
-
-struct work_s ToneAlarm::_work = {};
-
 /**
  * Local functions in support of the shell command.
  */

src/drivers/tone_alarm/ToneAlarm.h

@@ -46,7 +46,7 @@
 #include <lib/drivers/tone_alarm/ToneAlarmInterface.h>
 #include <lib/tunes/tunes.h>
 #include <px4_defines.h>
-#include <px4_workqueue.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 #include <string.h>
 
 
@@ -54,7 +54,7 @@
 #  define UNUSED(a) ((void)(a))
 #endif
 
-class ToneAlarm : public cdev::CDev
+class ToneAlarm : public cdev::CDev, public px4::ScheduledWorkItem
 {
 public:
 	ToneAlarm();
@@ -63,7 +63,7 @@ public:
 	/**
 	 * @brief Initializes the character device and hardware registers.
 	 */
-	int init();
+	int init() override;
 
 	/**
 	 * @brief Prints the driver status to the console.
@@ -79,9 +79,8 @@ protected:
 
 	/**
 	 * @brief Trampoline for the work queue.
-	 * @param argv Pointer to the task startup arguments.
 	 */
-	static void next_trampoline(void *argv);
+	void Run() override;
 
 	/**
 	 * @brief Updates the uORB topics for local subscribers.
@@ -115,6 +114,4 @@ private:
 	tune_control_s _tune{};
 
 	Tunes _tunes = Tunes();
-
-	static work_s _work;
 };