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src/platforms/common: move to platforms/common

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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
2019-08-30 07:59:44 +02:00
parent 5d0e72040c
commit f8e0441e7b
124 changed files with 91 additions and 91 deletions
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platforms/common/work_queue/hrt_thread.c
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/****************************************************************************
* libc/wqueue/work_thread.c
*
* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Modified by: Mark Charlebois to use hrt compatible times
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <stdint.h>
#include <signal.h>
#include <stdio.h>
#include <unistd.h>
#include <queue.h>
#include <px4_workqueue.h>
#include <drivers/drv_hrt.h>
#include "hrt_work.h"
#include <string.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/* The state of each work queue. */
struct wqueue_s g_hrt_work;
/****************************************************************************
* Private Variables
****************************************************************************/
px4_sem_t _hrt_work_lock;
/****************************************************************************
* Private Functions
****************************************************************************/
static void hrt_work_process(void);
static void _sighandler(int sig_num);
/****************************************************************************
* Name: _sighandler
*
* Description:
* This is the handler for the signal to wake the queue processing thread
*
* Input parameters:
* sig_num - the received signal
*
* Returned Value:
* None
*
****************************************************************************/
static void _sighandler(int sig_num)
{
PX4_DEBUG("RECEIVED SIGNAL %d", sig_num);
}
/****************************************************************************
* Name: work_process
*
* Description:
* This is the logic that performs actions placed on any work list.
*
* Input parameters:
* wqueue - Describes the work queue to be processed
*
* Returned Value:
* None
*
****************************************************************************/
static void hrt_work_process()
{
struct wqueue_s *wqueue = &g_hrt_work;
volatile struct work_s *work;
worker_t worker;
void *arg;
uint64_t elapsed;
uint32_t remaining;
uint32_t next;
// set the threads name
#ifdef __PX4_DARWIN
pthread_setname_np("HRT");
#else
// The Linux headers do not actually contain this
//rv = pthread_setname_np(pthread_self(), "HRT");
#endif
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
/* Default to sleeping for 1 sec */
next = 1000000;
hrt_work_lock();
work = (struct work_s *)wqueue->q.head;
while (work) {
/* Is this work ready? It is ready if there is no delay or if
* the delay has elapsed. qtime is the time that the work was added
* to the work queue. It will always be greater than or equal to
* zero. Therefore a delay of zero will always execute immediately.
*/
elapsed = hrt_absolute_time() - work->qtime;
//PX4_INFO("hrt work_process: in usec elapsed=%lu delay=%u work=%p", elapsed, work->delay, work);
if (elapsed >= work->delay) {
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *) & (work->dq), &(wqueue->q));
//PX4_INFO("Dequeued work=%p", work);
/* Extract the work description from the entry (in case the work
* instance by the re-used after it has been de-queued).
*/
worker = work->worker;
arg = work->arg;
/* Mark the work as no longer being queued */
work->worker = NULL;
/* Do the work. Re-enable interrupts while the work is being
* performed... we don't have any idea how long that will take!
*/
hrt_work_unlock();
if (!worker) {
PX4_ERR("MESSED UP: worker = 0");
} else {
worker(arg);
}
/* Now, unfortunately, since we re-enabled interrupts we don't
* know the state of the work list and we will have to start
* back at the head of the list.
*/
hrt_work_lock();
work = (struct work_s *)wqueue->q.head;
} else {
/* This one is not ready.. will it be ready before the next
* scheduled wakeup interval?
*/
/* Here: elapsed < work->delay */
remaining = work->delay - elapsed;
//PX4_INFO("remaining=%u delay=%u elapsed=%lu", remaining, work->delay, elapsed);
if (remaining < next) {
/* Yes.. Then schedule to wake up when the work is ready */
next = remaining;
}
/* Then try the next in the list. */
work = (struct work_s *)work->dq.flink;
//PX4_INFO("next %u work %p", next, work);
}
}
/* Wait awhile to check the work list. We will wait here until either
* the time elapses or until we are awakened by a signal.
*/
hrt_work_unlock();
/* might sleep less if a signal received and new item was queued */
//PX4_INFO("Sleeping for %u usec", next);
px4_usleep(next);
}
/****************************************************************************
* Name: work_hrtthread
*
* Description:
* This is the worker threads that performs actions placed on the ISR work
* list.
*
* work_hpthread and work_lpthread: These are the kernel mode work queues
* (also build in the flat build). One of these threads also performs
* periodic garbage collection (that is otherwise performed by the idle
* thread if CONFIG_SCHED_WORKQUEUE is not defined).
*
* These worker threads are started by the OS during normal bringup.
*
* All of these entrypoints are referenced by OS internally and should not
* not be accessed by application logic.
*
* Input parameters:
* argc, argv (not used)
*
* Returned Value:
* Does not return
*
****************************************************************************/
static int work_hrtthread(int argc, char *argv[])
{
/* Loop forever */
for (;;) {
/* First, perform garbage collection. This cleans-up memory de-allocations
* that were queued because they could not be freed in that execution
* context (for example, if the memory was freed from an interrupt handler).
* NOTE: If the work thread is disabled, this clean-up is performed by
* the IDLE thread (at a very, very low priority).
*/
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
hrt_work_process();
}
return PX4_OK; /* To keep some compilers happy */
}
/****************************************************************************
* Public Functions
****************************************************************************/
void hrt_work_queue_init(void)
{
px4_sem_init(&_hrt_work_lock, 0, 1);
memset(&g_hrt_work, 0, sizeof(g_hrt_work));
// Create high priority worker thread
g_hrt_work.pid = px4_task_spawn_cmd("wkr_hrt",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX,
2000,
work_hrtthread,
(char *const *)NULL);
#ifdef __PX4_QURT
signal(SIGALRM, _sighandler);
#else
signal(SIGCONT, _sighandler);
#endif
}