PX4 general work queue

2026-06-25 16:40:36 +08:00 · 2018-11-28 22:15:29 -05:00
parent f58079bc5d
commit e9ca5d5aba
29 changed files with 1650 additions and 15 deletions
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file BlockingList.hpp
+ *
+ * A blocking intrusive linked list.
+ */
+
+#pragma once
+
+#include "List.hpp"
+#include "LockGuard.hpp"
+
+#include <pthread.h>
+#include <stdlib.h>
+
+template<class T>
+class BlockingList : public List<T>
+{
+public:
+
+	~BlockingList()
+	{
+		pthread_mutex_destroy(&_mutex);
+		pthread_cond_destroy(&_cv);
+	}
+
+	void add(T newNode)
+	{
+		LockGuard lg{_mutex};
+		List<T>::add(newNode);
+	}
+
+	bool remove(T removeNode)
+	{
+		LockGuard lg{_mutex};
+		return List<T>::remove(removeNode);
+	}
+
+	size_t size() const
+	{
+		LockGuard lg{_mutex};
+		return List<T>::size();
+	}
+
+	void clear()
+	{
+		LockGuard lg{_mutex};
+		List<T>::clear();
+	}
+
+	LockGuard getLockGuard() { return LockGuard{_mutex}; }
+
+private:
+
+	pthread_mutex_t	_mutex = PTHREAD_MUTEX_INITIALIZER;
+	pthread_cond_t	_cv = PTHREAD_COND_INITIALIZER;
+
+};
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_sem.h>
+
+#include "LockGuard.hpp"
+
+template<class T, size_t N>
+class BlockingQueue
+{
+public:
+
+	BlockingQueue()
+	{
+		px4_sem_init(&_sem_head, 0, N);
+		px4_sem_init(&_sem_tail, 0, 0);
+	}
+
+	~BlockingQueue()
+	{
+		px4_sem_destroy(&_sem_head);
+		px4_sem_destroy(&_sem_tail);
+	}
+
+	void push(T newItem)
+	{
+		px4_sem_wait(&_sem_head);
+
+		_data[_tail] = newItem;
+		_tail = (_tail + 1) % N;
+
+		px4_sem_post(&_sem_tail);
+	}
+
+	T pop()
+	{
+		px4_sem_wait(&_sem_tail);
+
+		T ret = _data[_head];
+		_head = (_head + 1) % N;
+
+		px4_sem_post(&_sem_head);
+
+		return ret;
+	}
+
+private:
+
+	px4_sem_t	_sem_head;
+	px4_sem_t	_sem_tail;
+
+	T _data[N];
+
+	size_t _head{0};
+	size_t _tail{0};
+
+};
@@ -46,12 +46,12 @@ class ListNode
 {
 public:

-	void setSibling(T sibling) { _sibling = sibling; }
-	const T getSibling() const { return _sibling; }
+	void setSibling(T sibling) { _list_node_sibling = sibling; }
+	const T getSibling() const { return _list_node_sibling; }

 protected:

-	T _sibling{nullptr};
+	T _list_node_sibling{nullptr};

 };

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <pthread.h>
+
+class LockGuard
+{
+public:
+	explicit LockGuard(pthread_mutex_t &mutex) :
+		_mutex(mutex)
+	{
+		pthread_mutex_lock(&_mutex);
+	}
+
+	~LockGuard()
+	{
+		pthread_mutex_unlock(&_mutex);
+	}
+
+private:
+	pthread_mutex_t &_mutex;
+};