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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
2019-08-27 10:57:38 +02:00
parent 5d0e72040c
commit f8e0441e7b
124 changed files with 91 additions and 91 deletions
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platforms/common/work_queue/work_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>
*
* 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_time.h>
#include <px4_tasks.h>
#include <px4_workqueue.h>
#include <stdint.h>
#include <stdio.h>
#include <unistd.h>
#include <queue.h>
#include <pthread.h>
#include <drivers/drv_hrt.h>
#include "work_lock.h"
#ifdef CONFIG_SCHED_WORKQUEUE
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/* The state of each work queue. */
struct wqueue_s g_work[NWORKERS];
/****************************************************************************
* Private Variables
****************************************************************************/
px4_sem_t _work_lock[NWORKERS];
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* 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 work_process(struct wqueue_s *wqueue, int lock_id)
{
volatile struct work_s *work;
worker_t worker;
void *arg;
uint64_t elapsed;
uint32_t remaining;
uint32_t next;
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
next = CONFIG_SCHED_WORKPERIOD;
work_lock(lock_id);
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 = USEC2TICK(clock_systimer() - work->qtime);
//printf("work_process: in ticks elapsed=%lu delay=%u\n", elapsed, work->delay);
if (elapsed >= work->delay) {
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
/* 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!
*/
work_unlock(lock_id);
if (!worker) {
PX4_WARN("MESSED UP: worker = 0\n");
} 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.
*/
work_lock(lock_id);
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 = USEC_PER_TICK * (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;
}
}
/* Wait awhile to check the work list. We will wait here until either
* the time elapses or until we are awakened by a signal.
*/
work_unlock(lock_id);
px4_usleep(next);
}
/****************************************************************************
* Public Functions
****************************************************************************/
void work_queues_init(void)
{
px4_sem_init(&_work_lock[HPWORK], 0, 1);
px4_sem_init(&_work_lock[LPWORK], 0, 1);
#ifdef CONFIG_SCHED_USRWORK
px4_sem_init(&_work_lock[USRWORK], 0, 1);
#endif
// Create high priority worker thread
g_work[HPWORK].pid = px4_task_spawn_cmd("hpwork",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 1,
2000,
work_hpthread,
(char *const *)NULL);
// Create low priority worker thread
g_work[LPWORK].pid = px4_task_spawn_cmd("lpwork",
SCHED_DEFAULT,
SCHED_PRIORITY_MIN,
2000,
work_lpthread,
(char *const *)NULL);
}
/****************************************************************************
* Name: work_hpthread, work_lpthread, and work_usrthread
*
* Description:
* These are the worker threads that performs actions placed on the work
* lists.
*
* 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.
*
* work_usrthread: This is a user mode work queue. It must be built into
* the applicatino blob during the user phase of a kernel build. The
* user work thread will then automatically be started when the system
* boots by calling through the pointer found in the header on the user
* space blob.
*
* 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
*
****************************************************************************/
#ifdef CONFIG_SCHED_HPWORK
int work_hpthread(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).
*/
#ifndef CONFIG_SCHED_LPWORK
sched_garbagecollection();
#endif
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
work_process(&g_work[HPWORK], HPWORK);
}
return PX4_OK; /* To keep some compilers happy */
}
#ifdef CONFIG_SCHED_LPWORK
int work_lpthread(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).
*/
//sched_garbagecollection();
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
work_process(&g_work[LPWORK], LPWORK);
}
return PX4_OK; /* To keep some compilers happy */
}
#endif /* CONFIG_SCHED_LPWORK */
#endif /* CONFIG_SCHED_HPWORK */
#ifdef CONFIG_SCHED_USRWORK
int work_usrthread(int argc, char *argv[])
{
/* Loop forever */
int rv;
// set the threads name
#ifdef __PX4_DARWIN
rv = pthread_setname_np("USR");
#else
rv = pthread_setname_np(pthread_self(), "USR");
#endif
for (;;) {
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
work_process(&g_work[USRWORK], USRWORK);
}
return PX4_OK; /* To keep some compilers happy */
}
#endif /* CONFIG_SCHED_USRWORK */
uint32_t clock_systimer()
{
//printf("clock_systimer: %0lx\n", hrt_absolute_time());
return (0x00000000ffffffff & hrt_absolute_time());
}
#endif /* CONFIG_SCHED_WORKQUEUE */