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hrt_work_queue posix: only send a wake-up signal if not called from own thread

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The simulated timer interrupt always adds a new scheduled work task, which
is called from the work queue thread. Sending the signal creates measurable
overhead (~5% of the px4 CPU runtime) and is unnecessary, since the thread
is not sleeping anyway.
This commit is contained in:
Beat Küng
2016-09-30 13:50:51 +02:00
committed by Julian Oes
parent 1d111cb254
commit f25947b964
1 changed files with 6 additions and 2 deletions
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src/platforms/posix/work_queue/hrt_queue.c
+6 -2
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@@ -121,11 +121,15 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t del
//PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime);
dq_addlast((dq_entry_t *)work, &wqueue->q);
if (px4_getpid() != wqueue->pid) { /* only need to wake up if called from a different thread */
#ifdef __PX4_QURT
px4_task_kill(wqueue->pid, SIGALRM); /* Wake up the worker thread */
px4_task_kill(wqueue->pid, SIGALRM); /* Wake up the worker thread */
#else
px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */
//wqueue->pid == own task? -> don't signal
px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */
#endif
}
hrt_work_unlock();
return PX4_OK;