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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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src/platforms/common: move to platforms/common
Script to update include paths: for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
This commit is contained in:
Beat Küng
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
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#include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
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#include <drivers/drv_hrt.h>
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#include <px4_posix.h>
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#include <px4_tasks.h>
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#include <px4_time.h>
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#include <px4_atomic.h>
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#include <containers/BlockingList.hpp>
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#include <containers/BlockingQueue.hpp>
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#include <lib/drivers/device/Device.hpp>
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#include <lib/mathlib/mathlib.h>
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#include <limits.h>
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#include <string.h>
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using namespace time_literals;
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namespace px4
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{
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// list of current work queues
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static BlockingList<WorkQueue *> *_wq_manager_wqs_list{nullptr};
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// queue of WorkQueues to be created (as threads in the wq manager task)
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static BlockingQueue<const wq_config_t *, 1> *_wq_manager_create_queue{nullptr};
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static px4::atomic_bool _wq_manager_should_exit{false};
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static WorkQueue *FindWorkQueueByName(const char *name)
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{
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if (_wq_manager_wqs_list == nullptr) {
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PX4_ERR("not running");
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return nullptr;
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}
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auto lg = _wq_manager_wqs_list->getLockGuard();
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// search list
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for (WorkQueue *wq : *_wq_manager_wqs_list) {
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if (strcmp(wq->get_name(), name) == 0) {
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return wq;
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}
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}
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return nullptr;
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}
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WorkQueue *WorkQueueFindOrCreate(const wq_config_t &new_wq)
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{
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if (_wq_manager_create_queue == nullptr) {
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PX4_ERR("not running");
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return nullptr;
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}
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// search list for existing work queue
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WorkQueue *wq = FindWorkQueueByName(new_wq.name);
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// create work queue if it doesn't already exist
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if (wq == nullptr) {
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// add WQ config to list
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// main thread wakes up, creates the thread
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_wq_manager_create_queue->push(&new_wq);
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// we wait until new wq is created, then return
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uint64_t t = 0;
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while (wq == nullptr && t < 10_s) {
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// Wait up to 10 seconds, checking every 1 ms
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t += 1_ms;
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px4_usleep(1_ms);
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wq = FindWorkQueueByName(new_wq.name);
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}
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if (wq == nullptr) {
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PX4_ERR("failed to create %s", new_wq.name);
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}
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}
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return wq;
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}
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const wq_config_t &device_bus_to_wq(uint32_t device_id_int)
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{
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union device::Device::DeviceId device_id;
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device_id.devid = device_id_int;
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const device::Device::DeviceBusType bus_type = device_id.devid_s.bus_type;
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const uint8_t bus = device_id.devid_s.bus;
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if (bus_type == device::Device::DeviceBusType_I2C) {
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switch (bus) {
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case 1: return wq_configurations::I2C1;
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case 2: return wq_configurations::I2C2;
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case 3: return wq_configurations::I2C3;
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case 4: return wq_configurations::I2C4;
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}
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} else if (bus_type == device::Device::DeviceBusType_SPI) {
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switch (bus) {
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case 1: return wq_configurations::SPI1;
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case 2: return wq_configurations::SPI2;
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case 3: return wq_configurations::SPI3;
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case 4: return wq_configurations::SPI4;
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case 5: return wq_configurations::SPI5;
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case 6: return wq_configurations::SPI6;
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}
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}
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// otherwise use high priority
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return wq_configurations::hp_default;
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};
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static void *WorkQueueRunner(void *context)
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{
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wq_config_t *config = static_cast<wq_config_t *>(context);
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WorkQueue wq(*config);
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// add to work queue list
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_wq_manager_wqs_list->add(&wq);
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wq.Run();
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// remove from work queue list
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_wq_manager_wqs_list->remove(&wq);
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return nullptr;
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}
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static void WorkQueueManagerRun()
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{
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_wq_manager_wqs_list = new BlockingList<WorkQueue *>();
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_wq_manager_create_queue = new BlockingQueue<const wq_config_t *, 1>();
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while (!_wq_manager_should_exit.load()) {
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// create new work queues as needed
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const wq_config_t *wq = _wq_manager_create_queue->pop();
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if (wq != nullptr) {
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// create new work queue
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pthread_attr_t attr;
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int ret_attr_init = pthread_attr_init(&attr);
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if (ret_attr_init != 0) {
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PX4_ERR("attr init for %s failed (%i)", wq->name, ret_attr_init);
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}
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sched_param param;
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int ret_getschedparam = pthread_attr_getschedparam(&attr, ¶m);
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if (ret_getschedparam != 0) {
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PX4_ERR("getting sched param for %s failed (%i)", wq->name, ret_getschedparam);
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}
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// stack size
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#ifndef __PX4_QURT
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const size_t stacksize = math::max(PTHREAD_STACK_MIN, PX4_STACK_ADJUSTED(wq->stacksize));
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#else
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const size_t stacksize = math::max(8 * 1024, PX4_STACK_ADJUSTED(wq->stacksize));
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#endif
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int ret_setstacksize = pthread_attr_setstacksize(&attr, stacksize);
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if (ret_setstacksize != 0) {
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PX4_ERR("setting stack size for %s failed (%i)", wq->name, ret_setstacksize);
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}
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#ifndef __PX4_QURT
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// schedule policy FIFO
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int ret_setschedpolicy = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
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if (ret_setschedpolicy != 0) {
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PX4_ERR("failed to set sched policy SCHED_FIFO (%i)", ret_setschedpolicy);
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}
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#endif // ! QuRT
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// priority
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param.sched_priority = sched_get_priority_max(SCHED_FIFO) + wq->relative_priority;
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int ret_setschedparam = pthread_attr_setschedparam(&attr, ¶m);
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if (ret_setschedparam != 0) {
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PX4_ERR("setting sched params for %s failed (%i)", wq->name, ret_setschedparam);
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}
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// create thread
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pthread_t thread;
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int ret_create = pthread_create(&thread, &attr, WorkQueueRunner, (void *)wq);
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if (ret_create == 0) {
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PX4_INFO("creating: %s, priority: %d, stack: %zu bytes", wq->name, param.sched_priority, stacksize);
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} else {
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PX4_ERR("failed to create thread for %s (%i): %s", wq->name, ret_create, strerror(ret_create));
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}
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// destroy thread attributes
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int ret_destroy = pthread_attr_destroy(&attr);
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if (ret_destroy != 0) {
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PX4_ERR("failed to destroy thread attributes for %s (%i)", wq->name, ret_create);
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}
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}
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}
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}
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int WorkQueueManagerStart()
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{
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int task_id = px4_task_spawn_cmd("wq:manager",
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SCHED_DEFAULT,
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PX4_WQ_HP_BASE,
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1200,
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(px4_main_t)&WorkQueueManagerRun,
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nullptr);
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if (task_id < 0) {
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PX4_ERR("task start failed (%i)", task_id);
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return -errno;
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}
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return 0;
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}
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int WorkQueueManagerStop()
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{
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if (_wq_manager_wqs_list != nullptr) {
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auto lg = _wq_manager_wqs_list->getLockGuard();
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// ask all work queues (threads) to stop
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// NOTE: not currently safe without all WorkItems stopping first
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for (WorkQueue *wq : *_wq_manager_wqs_list) {
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wq->request_stop();
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}
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delete _wq_manager_wqs_list;
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}
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_wq_manager_should_exit.store(true);
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if (_wq_manager_create_queue != nullptr) {
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// push nullptr to wake the wq manager task
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_wq_manager_create_queue->push(nullptr);
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px4_usleep(1000);
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delete _wq_manager_create_queue;
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}
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return PX4_OK;
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}
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} // namespace px4
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