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

platforms/common/work_queue/wqueue_test/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# 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 PX4 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.
+#
+############################################################################
+px4_add_module(
+	MODULE platforms__posix__tests__wqueue
+	MAIN wqueue_test
+	SRCS
+		wqueue_main.cpp
+		wqueue_start_posix.cpp
+		wqueue_test.cpp
+	DEPENDS
+	)

platforms/common/work_queue/wqueue_test/wqueue_main.cpp

@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file wqueue_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include "wqueue_test.h"
+
+#include <px4_log.h>
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "wqueue_test");
+
+	PX4_INFO("wqueue hello\n");
+	WQueueTest wq;
+	wq.main();
+
+	PX4_INFO("goodbye\n");
+	return 0;
+}

platforms/common/work_queue/wqueue_test/wqueue_start_posix.cpp

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file wqueue_start_posix.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "wqueue_test.h"
+
+#include <px4_app.h>
+#include <px4_log.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+//using namespace px4;
+
+extern "C" __EXPORT int wqueue_test_main(int argc, char *argv[]);
+int wqueue_test_main(int argc, char *argv[])
+{
+
+	if (argc < 2) {
+		PX4_INFO("usage: wqueue_test {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (WQueueTest::appState.isRunning()) {
+			PX4_INFO("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("wqueue",
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 5,
+						 2000,
+						 PX4_MAIN,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		WQueueTest::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (WQueueTest::appState.isRunning()) {
+			PX4_INFO("is running\n");
+
+		} else {
+			PX4_INFO("not started\n");
+		}
+
+		return 0;
+	}
+
+	PX4_INFO("usage: wqueue_test {start|stop|status}\n");
+	return 1;
+}

platforms/common/work_queue/wqueue_test/wqueue_test.cpp

@@ -0,0 +1,113 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file wqueue_example.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include "wqueue_test.h"
+
+#include <px4_time.h>
+#include <px4_workqueue.h>
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppState WQueueTest::appState;
+
+void WQueueTest::hp_worker_cb(void *p)
+{
+	WQueueTest *wqep = (WQueueTest *)p;
+
+	wqep->do_hp_work();
+}
+
+void WQueueTest::lp_worker_cb(void *p)
+{
+	WQueueTest *wqep = (WQueueTest *)p;
+
+	wqep->do_lp_work();
+}
+
+void WQueueTest::do_lp_work()
+{
+	static int iter = 0;
+	printf("done lp work\n");
+
+	if (iter > 5) {
+		_lpwork_done = true;
+	}
+
+	++iter;
+
+	work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1000);
+}
+
+void WQueueTest::do_hp_work()
+{
+	static int iter = 0;
+	printf("done hp work\n");
+
+	if (iter > 5) {
+		_hpwork_done = true;
+	}
+
+	++iter;
+
+	// requeue
+	work_queue(HPWORK, &_hpwork, (worker_t)&hp_worker_cb, this, 1000);
+}
+
+int WQueueTest::main()
+{
+	appState.setRunning(true);
+
+	//Put work on HP work queue
+	work_queue(HPWORK, &_hpwork, (worker_t)&hp_worker_cb, this, 1000);
+
+
+	//Put work on LP work queue
+	work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1000);
+
+
+	// Wait for work to finsh
+	while (!appState.exitRequested() && !(_hpwork_done && _lpwork_done)) {
+		printf("  Sleeping for 2 sec...\n");
+		sleep(2);
+	}
+
+	return 0;
+}

platforms/common/work_queue/wqueue_test/wqueue_test.h

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file wqueue_test.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+#include <px4_workqueue.h>
+#include <string.h>
+
+class WQueueTest
+{
+public:
+	WQueueTest() :
+		_lpwork_done(false),
+		_hpwork_done(false)
+	{
+		memset(&_lpwork, 0, sizeof(_lpwork));
+		memset(&_hpwork, 0, sizeof(_hpwork));
+	};
+
+	~WQueueTest() {}
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+private:
+	static void hp_worker_cb(void *p);
+	static void lp_worker_cb(void *p);
+
+	void do_lp_work(void);
+	void do_hp_work(void);
+
+	bool _lpwork_done;
+	bool _hpwork_done;
+	work_s _lpwork;
+	work_s _hpwork;
+};