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teraranger move to px4 work queue

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This commit is contained in:
Daniel Agar 2019-02-22 10:44:14 -05:00
parent a1f3f2112b
commit eb8fbaf93d
1 changed files with 24 additions and 52 deletions
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76
src/drivers/distance_sensor/teraranger/teraranger.cpp
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@ -41,7 +41,7 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_workqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_module.h>
#include <drivers/device/i2c.h>
@ -92,21 +92,17 @@
#define TERARANGER_CONVERSION_INTERVAL 50000 /* 50ms */
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class TERARANGER : public device::I2C
class TERARANGER : public device::I2C, public px4::ScheduledWorkItem
{
public:
TERARANGER(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING,
int bus = TERARANGER_BUS_DEFAULT, int address = TRONE_BASEADDR);
virtual ~TERARANGER();
virtual int init();
virtual int init() override;
virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen) override;
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
/**
* Diagnostics - print some basic information about the driver.
@ -114,17 +110,16 @@ public:
void print_info();
protected:
virtual int probe();
virtual int probe() override;
private:
uint8_t _rotation;
float _min_distance;
float _max_distance;
work_s _work{};
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
uint8_t _valid;
int _measure_ticks;
int _measure_interval;
bool _collect_phase;
int _class_instance;
int _orb_class_instance;
@ -170,17 +165,9 @@ private:
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
void Run() override;
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
@ -229,13 +216,14 @@ extern "C" __EXPORT int teraranger_main(int argc, char *argv[]);
TERARANGER::TERARANGER(uint8_t rotation, int bus, int address) :
I2C("TERARANGER", TERARANGER_DEVICE_PATH, bus, address, 100000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_rotation(rotation),
_min_distance(-1.0f),
_max_distance(-1.0f),
_reports(nullptr),
_sensor_ok(false),
_valid(0),
_measure_ticks(0),
_measure_interval(0),
_collect_phase(false),
_class_instance(-1),
_orb_class_instance(-1),
@ -431,10 +419,10 @@ TERARANGER::ioctl(device::file_t *filp, int cmd, unsigned long arg)
/* set default polling rate */
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
bool want_start = (_measure_interval == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(TERARANGER_CONVERSION_INTERVAL);
_measure_interval = (TERARANGER_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
@ -447,18 +435,18 @@ TERARANGER::ioctl(device::file_t *filp, int cmd, unsigned long arg)
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
bool want_start = (_measure_interval == 0);
/* convert hz to tick interval via microseconds */
int ticks = USEC2TICK(1000000 / arg);
int interval = (1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(TERARANGER_CONVERSION_INTERVAL)) {
if (interval < (TERARANGER_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
_measure_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
@ -489,7 +477,7 @@ TERARANGER::read(device::file_t *filp, char *buffer, size_t buflen)
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
if (_measure_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
@ -621,25 +609,17 @@ TERARANGER::start()
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&TERARANGER::cycle_trampoline, this, 1);
ScheduleNow();
}
void
TERARANGER::stop()
{
work_cancel(HPWORK, &_work);
ScheduleClear();
}
void
TERARANGER::cycle_trampoline(void *arg)
{
TERARANGER *dev = (TERARANGER *)arg;
dev->cycle();
}
void
TERARANGER::cycle()
TERARANGER::Run()
{
/* collection phase? */
if (_collect_phase) {
@ -658,13 +638,9 @@ TERARANGER::cycle()
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(TERARANGER_CONVERSION_INTERVAL)) {
if (_measure_interval > TERARANGER_CONVERSION_INTERVAL) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&TERARANGER::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(TERARANGER_CONVERSION_INTERVAL));
ScheduleDelayed(_measure_interval - TERARANGER_CONVERSION_INTERVAL);
return;
}
@ -679,11 +655,7 @@ TERARANGER::cycle()
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&TERARANGER::cycle_trampoline,
this,
USEC2TICK(TERARANGER_CONVERSION_INTERVAL));
ScheduleDelayed(TERARANGER_CONVERSION_INTERVAL);
}
void
@ -691,7 +663,7 @@ TERARANGER::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u ticks\n", _measure_ticks);
printf("poll interval: %u\n", _measure_interval);
_reports->print_info("report queue");
}