mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 17:40:34 +08:00
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
@@ -45,7 +45,7 @@
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#include <px4_arch/adc.h>
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#include <px4_config.h>
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#include <px4_log.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/adc_report.h>
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#include <uORB/topics/system_power.h>
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@@ -50,7 +50,7 @@
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#include <perf/perf_counter.h>
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#include <px4_config.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include "board_config.h"
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@@ -42,7 +42,7 @@
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#include <lib/cdev/CDev.hpp>
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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@@ -49,7 +49,7 @@
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#include <lib/cdev/CDev.hpp>
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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@@ -68,7 +68,7 @@
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_log.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include "board_config.h"
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@@ -49,7 +49,7 @@
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#include <lib/cdev/CDev.hpp>
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#include <lib/perf/perf_counter.h>
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#include <platforms/px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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@@ -49,7 +49,7 @@
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#include <perf/perf_counter.h>
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#include <platforms/px4_module.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/topics/battery_status.h>
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#include "board_config.h"
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@@ -48,7 +48,7 @@
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#include <px4_module.h>
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#include <px4_tasks.h>
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#include <px4_workqueue.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationQueued.hpp>
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#include <uORB/Subscription.hpp>
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@@ -50,7 +50,7 @@
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#include <poll.h>
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#include <mathlib/mathlib.h>
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#include <matrix/math.hpp>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include <parameters/param.h>
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#include <systemlib/mavlink_log.h>
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@@ -45,7 +45,7 @@
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#include <px4_cli.h>
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#include <px4_config.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdio.h>
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@@ -32,7 +32,7 @@
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****************************************************************************/
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#include <px4_config.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_getopt.h>
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#include <px4_defines.h>
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#include <px4_module.h>
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@@ -42,7 +42,7 @@
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#include "LidarLite.h"
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <drivers/device/i2c.h>
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@@ -45,7 +45,7 @@
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#include "LidarLite.h"
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/topics/pwm_input.h>
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class LidarLitePWM : public LidarLite, public px4::ScheduledWorkItem
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@@ -47,7 +47,7 @@
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_module_params.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/topics/distance_sensor.h>
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/* MappyDot Registers */
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@@ -63,7 +63,7 @@
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#include <px4_config.h>
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#include <px4_getopt.h>
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#include <px4_module_params.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/uORB.h>
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#include <uORB/topics/distance_sensor.h>
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@@ -41,7 +41,7 @@
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#include <px4_config.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <sys/types.h>
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#include <stdint.h>
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@@ -44,7 +44,7 @@
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_module.h>
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#include <drivers/device/i2c.h>
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@@ -40,7 +40,7 @@
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <containers/Array.hpp>
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#include <drivers/device/i2c.h>
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@@ -41,7 +41,7 @@
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_module.h>
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#include <drivers/device/i2c.h>
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@@ -66,7 +66,7 @@
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#include <px4_config.h>
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#include <px4_getopt.h>
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#include <px4_module.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/distance_sensor.h>
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@@ -63,7 +63,7 @@
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_workqueue.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include <uORB/topics/distance_sensor.h>
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#include <uORB/uORB.h>
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@@ -48,7 +48,7 @@
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#include <drivers/drv_range_finder.h>
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/topics/distance_sensor.h>
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/* Configuration Constants */
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@@ -45,7 +45,7 @@
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#include <px4_getopt.h>
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#include <px4_module.h>
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#include <px4_module_params.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_accel.h>
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@@ -50,7 +50,7 @@
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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#include <perf/perf_counter.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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using namespace time_literals;
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@@ -45,7 +45,7 @@
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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class ADIS16477 : public device::SPI, public px4::ScheduledWorkItem
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{
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@@ -45,7 +45,7 @@
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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// TODO : This is a copy of the NuttX CRC32 table
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static constexpr uint32_t crc32_tab[] = {
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@@ -57,7 +57,7 @@
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <nuttx/arch.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <nuttx/clock.h>
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#include <drivers/drv_hrt.h>
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@@ -66,7 +66,7 @@
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#include <drivers/device/spi.h>
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#include <drivers/drv_accel.h>
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#include <drivers/device/ringbuffer.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#define ACCEL_DEVICE_PATH "/dev/bma180"
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@@ -37,7 +37,7 @@
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#include <ecl/geo/geo.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#define DIR_READ 0x80
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#define DIR_WRITE 0x00
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@@ -38,7 +38,7 @@
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#include <lib/conversion/rotation.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#define DIR_READ 0x80
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#define DIR_WRITE 0x00
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@@ -40,7 +40,7 @@
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/conversions.h>
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#define DIR_READ 0x80
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@@ -43,7 +43,7 @@
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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class FXAS21002C : public device::SPI, public px4::ScheduledWorkItem
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@@ -46,7 +46,7 @@
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
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@@ -44,7 +44,7 @@
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <lib/conversion/rotation.h>
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#include <systemlib/err.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/uORB.h>
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@@ -44,7 +44,7 @@
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#define L3GD20_DEVICE_PATH "/dev/l3gd20"
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@@ -41,7 +41,7 @@
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#include <drivers/device/spi.h>
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#include <ecl/geo/geo.h>
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#include <perf/perf_counter.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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@@ -63,7 +63,7 @@
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#include <lib/ecl/geo/geo.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/conversions.h>
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#include <systemlib/px4_macros.h>
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@@ -35,7 +35,7 @@
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <lib/ecl/geo/geo.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/conversions.h>
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#include <systemlib/px4_macros.h>
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@@ -46,7 +46,7 @@
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#include <drivers/device/ringbuffer.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include <uORB/uORB.h>
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@@ -99,7 +99,7 @@
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#include <drivers/device/i2c.h>
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#include <drivers/drv_blinkm.h>
|
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#include <px4_work_queue/ScheduledWorkItem.hpp>
|
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/battery_status.h>
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@@ -47,7 +47,7 @@
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#include <drivers/drv_oreoled.h>
|
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#include <perf/perf_counter.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <systemlib/err.h>
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|
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#define OREOLED_NUM_LEDS 4 ///< maximum number of LEDs the oreo led driver can support
|
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|
||||
@@ -46,7 +46,7 @@
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <drivers/drv_io_expander.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
|
||||
|
||||
@@ -45,7 +45,7 @@
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <lib/led/led.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
|
||||
@@ -44,7 +44,7 @@
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <lib/led/led.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
|
||||
@@ -44,7 +44,7 @@
|
||||
#include <drivers/device/device.h>
|
||||
#include <lib/led/led.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
class RGBLED_PWM : public device::CDev, public px4::ScheduledWorkItem
|
||||
{
|
||||
|
||||
@@ -48,7 +48,7 @@
|
||||
#include <asm-generic/termbits.h>
|
||||
#include <errno.h>
|
||||
#include <px4_config.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_defines.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
@@ -39,7 +39,7 @@
|
||||
#include <systemlib/conversions.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
|
||||
|
||||
#define AK09916_DEVICE_PATH_MAG "/dev/ak09916_i2c_int"
|
||||
|
||||
@@ -20,7 +20,7 @@
|
||||
|
||||
#include <perf/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <systemlib/conversions.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
@@ -57,7 +57,7 @@
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <board_config.h>
|
||||
|
||||
@@ -76,7 +76,7 @@
|
||||
#include <float.h>
|
||||
#include <lib/conversion/rotation.h>
|
||||
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
/*
|
||||
* IST8310 internal constants and data structures.
|
||||
|
||||
@@ -48,7 +48,7 @@
|
||||
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
#include <perf/perf_counter.h>
|
||||
#include <px4_defines.h>
|
||||
|
||||
@@ -42,7 +42,7 @@
|
||||
#include <mathlib/math/filter/LowPassFilter2p.hpp>
|
||||
#include <lib/conversion/rotation.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
// Register mapping
|
||||
|
||||
@@ -56,7 +56,7 @@
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <board_config.h>
|
||||
|
||||
@@ -52,7 +52,7 @@
|
||||
#include <px4_defines.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
/**
|
||||
* RM3100 internal constants and data structures.
|
||||
|
||||
@@ -44,7 +44,7 @@
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <drivers/device/spi.h>
|
||||
#include <conversion/rotation.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
|
||||
@@ -41,7 +41,7 @@
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
#include <drivers/device/spi.h>
|
||||
|
||||
|
||||
@@ -49,7 +49,7 @@
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/topics/distance_sensor.h>
|
||||
#include <uORB/topics/optical_flow.h>
|
||||
|
||||
|
||||
@@ -46,7 +46,7 @@
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_module.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
|
||||
@@ -63,7 +63,7 @@
|
||||
#include <math.h>
|
||||
#include <px4_getopt.h>
|
||||
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <perf/perf_counter.h>
|
||||
|
||||
@@ -48,7 +48,7 @@
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/power_monitor.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
/* Configuration Constants */
|
||||
#define INA226_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
|
||||
|
||||
@@ -58,7 +58,7 @@
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_log.h>
|
||||
#include <px4_module.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
|
||||
@@ -49,7 +49,7 @@
|
||||
#include <unistd.h>
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_defines.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
@@ -41,7 +41,7 @@
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_log.h>
|
||||
#include <px4_module.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
|
||||
@@ -41,7 +41,7 @@
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_getopt.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <string.h>
|
||||
|
||||
@@ -45,7 +45,7 @@
|
||||
#include <drivers/drv_tone_alarm.h>
|
||||
#include <lib/tunes/tunes.h>
|
||||
#include <px4_defines.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/topics/tune_control.h>
|
||||
|
||||
|
||||
@@ -42,7 +42,7 @@
|
||||
#include <perf/perf_counter.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
/* Default I2C bus */
|
||||
static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;
|
||||
|
||||
@@ -38,7 +38,7 @@
|
||||
#include <perf/perf_counter.h>
|
||||
#include <px4_module.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <lib/airspeed/airspeed.h>
|
||||
#include <AirspeedValidator.hpp>
|
||||
#include <systemlib/mavlink_log.h>
|
||||
|
||||
@@ -46,7 +46,7 @@
|
||||
#include <px4_tasks.h>
|
||||
#include <parameters/param.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <px4_work_queue/WorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
|
||||
@@ -65,7 +65,7 @@
|
||||
#include <px4_module.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <px4_posix.h>
|
||||
#include <px4_work_queue/WorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
#include <uORB/topics/airspeed.h>
|
||||
|
||||
@@ -51,7 +51,7 @@
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/vehicle_land_detected.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
|
||||
@@ -45,7 +45,7 @@
|
||||
#include <px4_defines.h>
|
||||
#include <px4_module.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <systemlib/cpuload.h>
|
||||
#include <uORB/topics/cpuload.h>
|
||||
#include <uORB/topics/task_stack_info.h>
|
||||
|
||||
@@ -40,7 +40,7 @@
|
||||
#include <px4_module.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <px4_posix.h>
|
||||
#include <px4_work_queue/WorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
|
||||
@@ -40,7 +40,7 @@
|
||||
#include <px4_config.h>
|
||||
#include <px4_log.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <px4_work_queue/WorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
|
||||
@@ -40,7 +40,7 @@
|
||||
#include <px4_config.h>
|
||||
#include <px4_log.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <px4_work_queue/WorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
|
||||
@@ -40,7 +40,7 @@
|
||||
|
||||
#include <uORB/SubscriptionInterval.hpp>
|
||||
#include <containers/List.hpp>
|
||||
#include <px4_work_queue/WorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
|
||||
|
||||
namespace uORB
|
||||
{
|
||||
|
||||
@@ -60,7 +60,7 @@
|
||||
#include <px4_defines.h>
|
||||
#include <px4_module.h>
|
||||
#include <px4_posix.h>
|
||||
#include <px4_work_queue/WorkItem.hpp>
|
||||
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/SubscriptionCallback.hpp>
|
||||
|
||||
@@ -1,35 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_subdirectory(common)
|
||||
|
||||
@@ -1,56 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
set(SRCS)
|
||||
|
||||
if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
|
||||
list(APPEND SRCS
|
||||
px4_log.c
|
||||
)
|
||||
endif()
|
||||
|
||||
add_library(px4_platform
|
||||
module.cpp
|
||||
px4_getopt.c
|
||||
px4_cli.cpp
|
||||
shutdown.cpp
|
||||
${SRCS}
|
||||
)
|
||||
add_dependencies(px4_platform prebuild_targets)
|
||||
|
||||
if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
|
||||
target_link_libraries(px4_platform PRIVATE modules__uORB) # px4_log awkward dependency with uORB, TODO: orb should part of the platform layer
|
||||
endif()
|
||||
|
||||
add_subdirectory(px4_work_queue)
|
||||
add_subdirectory(work_queue)
|
||||
@@ -1,167 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2017 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file module.cpp
|
||||
* Implementation of the API declared in px4_module.h.
|
||||
*/
|
||||
|
||||
#ifndef MODULE_NAME
|
||||
#define MODULE_NAME "module"
|
||||
#endif
|
||||
|
||||
#include <px4_module.h>
|
||||
#include <px4_defines.h>
|
||||
#include <px4_log.h>
|
||||
|
||||
pthread_mutex_t px4_modules_mutex = PTHREAD_MUTEX_INITIALIZER;
|
||||
|
||||
#ifndef __PX4_NUTTX
|
||||
|
||||
void PRINT_MODULE_DESCRIPTION(const char *description)
|
||||
{
|
||||
// TODO: the output could be improved by:
|
||||
// - mark titles in bold (lines starting with ##)
|
||||
// - highlight commands (lines starting with $, or `cmd`)
|
||||
PX4_INFO_RAW("%s\n\n", description);
|
||||
}
|
||||
|
||||
#endif /* __PX4_NUTTX */
|
||||
|
||||
void PRINT_MODULE_USAGE_NAME(const char *executable_name, const char *category)
|
||||
{
|
||||
PX4_INFO_RAW("Usage: %s <command> [arguments...]\n", executable_name);
|
||||
PX4_INFO_RAW(" Commands:\n");
|
||||
}
|
||||
|
||||
void PRINT_MODULE_USAGE_SUBCATEGORY(const char *subcategory)
|
||||
{
|
||||
(void)subcategory;
|
||||
}
|
||||
|
||||
void PRINT_MODULE_USAGE_NAME_SIMPLE(const char *executable_name, const char *category)
|
||||
{
|
||||
PX4_INFO_RAW("Usage: %s [arguments...]\n", executable_name);
|
||||
}
|
||||
|
||||
void PRINT_MODULE_USAGE_COMMAND_DESCR(const char *name, const char *description)
|
||||
{
|
||||
if (description) {
|
||||
PX4_INFO_RAW("\n %-13s %s\n", name, description);
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW("\n %s\n", name);
|
||||
}
|
||||
}
|
||||
|
||||
void PRINT_MODULE_USAGE_PARAM_COMMENT(const char *comment)
|
||||
{
|
||||
PX4_INFO_RAW("\n %s\n", comment);
|
||||
}
|
||||
|
||||
void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
|
||||
const char *description, bool is_optional)
|
||||
{
|
||||
if (is_optional) {
|
||||
PX4_INFO_RAW(" [-%c <val>] %s\n", option_char, description);
|
||||
|
||||
if (default_val != -1) {
|
||||
PX4_INFO_RAW(" default: %i\n", default_val);
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW(" -%c <val> %s\n", option_char, description);
|
||||
}
|
||||
}
|
||||
|
||||
void PRINT_MODULE_USAGE_PARAM_FLOAT(char option_char, float default_val, float min_val, float max_val,
|
||||
const char *description, bool is_optional)
|
||||
{
|
||||
if (is_optional) {
|
||||
PX4_INFO_RAW(" [-%c <val>] %s\n", option_char, description);
|
||||
|
||||
if (PX4_ISFINITE(default_val)) {
|
||||
PX4_INFO_RAW(" default: %.1f\n", (double)default_val);
|
||||
}
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW(" -%c <val> %s\n", option_char, description);
|
||||
}
|
||||
}
|
||||
|
||||
void PRINT_MODULE_USAGE_PARAM_FLAG(char option_char, const char *description, bool is_optional)
|
||||
{
|
||||
if (is_optional) {
|
||||
PX4_INFO_RAW(" [-%c] %s\n", option_char, description);
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW(" -%c %s\n", option_char, description);
|
||||
}
|
||||
}
|
||||
|
||||
void PRINT_MODULE_USAGE_PARAM_STRING(char option_char, const char *default_val, const char *values,
|
||||
const char *description, bool is_optional)
|
||||
{
|
||||
if (is_optional) {
|
||||
PX4_INFO_RAW(" [-%c <val>] %s\n", option_char, description);
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW(" -%c <val> %s\n", option_char, description);
|
||||
}
|
||||
|
||||
if (values) {
|
||||
if (default_val) {
|
||||
PX4_INFO_RAW(" values: %s, default: %s\n", values, default_val);
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW(" values: %s\n", values);
|
||||
}
|
||||
|
||||
} else {
|
||||
if (default_val) {
|
||||
PX4_INFO_RAW(" default: %s\n", default_val);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void PRINT_MODULE_USAGE_ARG(const char *values, const char *description, bool is_optional)
|
||||
{
|
||||
if (is_optional) {
|
||||
PX4_INFO_RAW(" [%-9s] %s\n", values, description);
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW(" %-11s %s\n", values, description);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,89 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <parameters/param.h>
|
||||
#include <px4_cli.h>
|
||||
|
||||
#ifndef MODULE_NAME
|
||||
#define MODULE_NAME "cli"
|
||||
#endif
|
||||
|
||||
#include <px4_log.h>
|
||||
|
||||
#include <cstring>
|
||||
#include <errno.h>
|
||||
#include <cstdlib>
|
||||
|
||||
int px4_get_parameter_value(const char *option, int &value)
|
||||
{
|
||||
value = 0;
|
||||
|
||||
/* check if this is a param name */
|
||||
if (strncmp("p:", option, 2) == 0) {
|
||||
|
||||
const char *param_name = option + 2;
|
||||
|
||||
/* user wants to use a param name */
|
||||
param_t param_handle = param_find(param_name);
|
||||
|
||||
if (param_handle != PARAM_INVALID) {
|
||||
|
||||
if (param_type(param_handle) != PARAM_TYPE_INT32) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
int32_t pwm_parm;
|
||||
int ret = param_get(param_handle, &pwm_parm);
|
||||
|
||||
if (ret != 0) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
value = pwm_parm;
|
||||
|
||||
} else {
|
||||
PX4_ERR("param name '%s' not found", param_name);
|
||||
return -ENXIO;
|
||||
}
|
||||
|
||||
} else {
|
||||
char *ep;
|
||||
value = strtol(option, &ep, 0);
|
||||
|
||||
if (*ep != '\0') {
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,187 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 px4_getopt.cpp
|
||||
* Minimal, thread safe version of getopt
|
||||
*/
|
||||
|
||||
#include <px4_getopt.h>
|
||||
#include <stdio.h>
|
||||
|
||||
// check if p is a valid option and if the option takes an arg
|
||||
static char isvalidopt(char p, const char *options, int *takesarg)
|
||||
{
|
||||
int idx = 0;
|
||||
*takesarg = 0;
|
||||
|
||||
while (options[idx] != 0 && p != options[idx]) {
|
||||
++idx;
|
||||
}
|
||||
|
||||
if (options[idx] == 0) {
|
||||
return '?';
|
||||
}
|
||||
|
||||
if (options[idx + 1] == ':') {
|
||||
*takesarg = 1;
|
||||
}
|
||||
|
||||
return options[idx];
|
||||
}
|
||||
|
||||
// reorder argv and put non-options at the end
|
||||
static int reorder(int argc, char **argv, const char *options)
|
||||
{
|
||||
char *tmp_argv[argc];
|
||||
char c;
|
||||
int idx = 1;
|
||||
int tmpidx = 1;
|
||||
int takesarg;
|
||||
|
||||
// move the options to the front
|
||||
while (idx < argc && argv[idx] != 0) {
|
||||
if (argv[idx][0] == '-') {
|
||||
c = isvalidopt(argv[idx][1], options, &takesarg);
|
||||
|
||||
if (c == '?') {
|
||||
return 1;
|
||||
}
|
||||
|
||||
tmp_argv[tmpidx] = argv[idx];
|
||||
tmpidx++;
|
||||
|
||||
if (takesarg) {
|
||||
if (idx + 1 >= argc) { //Error: option takes an argument, but there is no more argument
|
||||
return 1;
|
||||
}
|
||||
|
||||
tmp_argv[tmpidx] = argv[idx + 1];
|
||||
// printf("tmp_argv[%d] = %s\n", tmpidx, tmp_argv[tmpidx]);
|
||||
tmpidx++;
|
||||
idx++;
|
||||
}
|
||||
}
|
||||
|
||||
idx++;
|
||||
}
|
||||
|
||||
// Add non-options to the end
|
||||
idx = 1;
|
||||
|
||||
while (idx < argc && argv[idx] != 0) {
|
||||
if (argv[idx][0] == '-') {
|
||||
c = isvalidopt(argv[idx][1], options, &takesarg);
|
||||
|
||||
if (c == '?') {
|
||||
return c;
|
||||
}
|
||||
|
||||
if (takesarg) {
|
||||
idx++;
|
||||
}
|
||||
|
||||
} else {
|
||||
tmp_argv[tmpidx] = argv[idx];
|
||||
tmpidx++;
|
||||
}
|
||||
|
||||
idx++;
|
||||
}
|
||||
|
||||
// Reorder argv
|
||||
for (idx = 1; idx < argc; idx++) {
|
||||
argv[idx] = tmp_argv[idx];
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
//
|
||||
// px4_getopt
|
||||
//
|
||||
// returns:
|
||||
// the valid option character
|
||||
// '?' if any option is unknown
|
||||
// -1 if no remaining options
|
||||
//
|
||||
// If the option takes an arg, myoptarg will be updated accordingly.
|
||||
// After each call to px4_getopt, myoptind in incremented to the next
|
||||
// unparsed arg index.
|
||||
// Argv is changed to put all options and option args at the beginning,
|
||||
// followed by non-options.
|
||||
//
|
||||
__EXPORT int px4_getopt(int argc, char *argv[], const char *options, int *myoptind, const char **myoptarg)
|
||||
{
|
||||
char *p;
|
||||
char c;
|
||||
int takesarg;
|
||||
|
||||
if (*myoptind == 1) {
|
||||
if (reorder(argc, argv, options) != 0) {
|
||||
*myoptind += 1;
|
||||
return (int)'?';
|
||||
}
|
||||
}
|
||||
|
||||
p = argv[*myoptind];
|
||||
|
||||
if (*myoptarg == 0) {
|
||||
*myoptarg = argv[*myoptind];
|
||||
}
|
||||
|
||||
if (p && options && myoptind && p[0] == '-') {
|
||||
c = isvalidopt(p[1], options, &takesarg);
|
||||
|
||||
if (c == '?') {
|
||||
*myoptind += 1;
|
||||
return (int)c;
|
||||
}
|
||||
|
||||
*myoptind += 1;
|
||||
|
||||
if (takesarg) {
|
||||
*myoptarg = argv[*myoptind];
|
||||
|
||||
if (!*myoptarg) { //Error: option takes an argument, but there is no more argument
|
||||
return -1;
|
||||
}
|
||||
|
||||
*myoptind += 1;
|
||||
}
|
||||
|
||||
return (int)c;
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
@@ -1,168 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2017-2018 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <assert.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#ifndef MODULE_NAME
|
||||
#define MODULE_NAME "log"
|
||||
#endif
|
||||
|
||||
#include <px4_log.h>
|
||||
#if defined(__PX4_POSIX)
|
||||
#include <px4_daemon/server_io.h>
|
||||
#endif
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/log_message.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
static orb_advert_t orb_log_message_pub = NULL;
|
||||
|
||||
__EXPORT const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1] = { "DEBUG", "INFO", "WARN", "ERROR", "PANIC" };
|
||||
__EXPORT const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1] =
|
||||
{ PX4_ANSI_COLOR_GREEN, PX4_ANSI_COLOR_RESET, PX4_ANSI_COLOR_YELLOW, PX4_ANSI_COLOR_RED, PX4_ANSI_COLOR_RED };
|
||||
|
||||
|
||||
void px4_log_initialize(void)
|
||||
{
|
||||
assert(orb_log_message_pub == NULL);
|
||||
|
||||
/* we need to advertise with a valid message */
|
||||
struct log_message_s log_message;
|
||||
log_message.timestamp = hrt_absolute_time();
|
||||
log_message.severity = 6; //info
|
||||
strcpy((char *)log_message.text, "initialized uORB logging");
|
||||
|
||||
#if !defined(PARAM_NO_ORB)
|
||||
orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, 2);
|
||||
#endif /* !PARAM_NO_ORB */
|
||||
|
||||
if (!orb_log_message_pub) {
|
||||
PX4_ERR("failed to advertise log_message");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
|
||||
{
|
||||
FILE *out = stdout;
|
||||
bool use_color = true;
|
||||
|
||||
#ifdef __PX4_POSIX
|
||||
out = get_stdout(&use_color);
|
||||
#endif
|
||||
|
||||
#ifndef PX4_LOG_COLORIZED_OUTPUT
|
||||
use_color = false;
|
||||
#endif
|
||||
|
||||
if (level >= _PX4_LOG_LEVEL_INFO) {
|
||||
if (use_color) { fputs(__px4_log_level_color[level], out); }
|
||||
|
||||
fprintf(out, __px4__log_level_fmt __px4__log_level_arg(level));
|
||||
|
||||
if (use_color) { fputs(PX4_ANSI_COLOR_GRAY, out); }
|
||||
|
||||
fprintf(out, __px4__log_modulename_pfmt, moduleName);
|
||||
|
||||
if (use_color) { fputs(__px4_log_level_color[level], out); }
|
||||
|
||||
va_list argptr;
|
||||
va_start(argptr, fmt);
|
||||
vfprintf(out, fmt, argptr);
|
||||
va_end(argptr);
|
||||
|
||||
if (use_color) { fputs(PX4_ANSI_COLOR_RESET, out); }
|
||||
|
||||
fputc('\n', out);
|
||||
}
|
||||
|
||||
/* publish an orb log message */
|
||||
if (level >= _PX4_LOG_LEVEL_WARN && orb_log_message_pub) { //only publish important messages
|
||||
|
||||
struct log_message_s log_message;
|
||||
const unsigned max_length_pub = sizeof(log_message.text);
|
||||
log_message.timestamp = hrt_absolute_time();
|
||||
|
||||
const uint8_t log_level_table[] = {
|
||||
7, /* _PX4_LOG_LEVEL_DEBUG */
|
||||
6, /* _PX4_LOG_LEVEL_INFO */
|
||||
4, /* _PX4_LOG_LEVEL_WARN */
|
||||
3, /* _PX4_LOG_LEVEL_ERROR */
|
||||
0 /* _PX4_LOG_LEVEL_PANIC */
|
||||
};
|
||||
log_message.severity = log_level_table[level];
|
||||
|
||||
unsigned pos = 0;
|
||||
|
||||
va_list argptr;
|
||||
|
||||
pos += snprintf((char *)log_message.text + pos, max_length_pub - pos, __px4__log_modulename_pfmt, moduleName);
|
||||
va_start(argptr, fmt);
|
||||
pos += vsnprintf((char *)log_message.text + pos, max_length_pub - pos, fmt, argptr);
|
||||
va_end(argptr);
|
||||
log_message.text[max_length_pub - 1] = 0; //ensure 0-termination
|
||||
|
||||
#if !defined(PARAM_NO_ORB)
|
||||
orb_publish(ORB_ID(log_message), orb_log_message_pub, &log_message);
|
||||
#endif /* !PARAM_NO_ORB */
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void px4_log_raw(int level, const char *fmt, ...)
|
||||
{
|
||||
FILE *out = stdout;
|
||||
bool use_color = true;
|
||||
|
||||
#ifdef __PX4_POSIX
|
||||
out = get_stdout(&use_color);
|
||||
#endif
|
||||
|
||||
#ifndef PX4_LOG_COLORIZED_OUTPUT
|
||||
use_color = false;
|
||||
#endif
|
||||
|
||||
if (level >= _PX4_LOG_LEVEL_INFO) {
|
||||
if (use_color) { fputs(__px4_log_level_color[level], out); }
|
||||
|
||||
va_list argptr;
|
||||
va_start(argptr, fmt);
|
||||
vfprintf(out, fmt, argptr);
|
||||
va_end(argptr);
|
||||
|
||||
if (use_color) { fputs(PX4_ANSI_COLOR_RESET, out); }
|
||||
}
|
||||
}
|
||||
@@ -1,45 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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_library(px4_work_queue
|
||||
ScheduledWorkItem.cpp
|
||||
WorkItem.cpp
|
||||
WorkQueue.cpp
|
||||
WorkQueueManager.cpp
|
||||
)
|
||||
|
||||
if(PX4_TESTING)
|
||||
add_subdirectory(test)
|
||||
endif()
|
||||
|
||||
target_link_libraries(px4_work_queue PRIVATE px4_platform)
|
||||
@@ -1,65 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "ScheduledWorkItem.hpp"
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
ScheduledWorkItem::~ScheduledWorkItem()
|
||||
{
|
||||
ScheduleClear();
|
||||
}
|
||||
|
||||
void ScheduledWorkItem::schedule_trampoline(void *arg)
|
||||
{
|
||||
ScheduledWorkItem *dev = reinterpret_cast<ScheduledWorkItem *>(arg);
|
||||
dev->ScheduleNow();
|
||||
}
|
||||
|
||||
void ScheduledWorkItem::ScheduleDelayed(uint32_t delay_us)
|
||||
{
|
||||
hrt_call_after(&_call, delay_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
|
||||
}
|
||||
|
||||
void ScheduledWorkItem::ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us)
|
||||
{
|
||||
hrt_call_every(&_call, delay_us, interval_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
|
||||
}
|
||||
|
||||
void ScheduledWorkItem::ScheduleClear()
|
||||
{
|
||||
hrt_cancel(&_call);
|
||||
}
|
||||
|
||||
} // namespace px4
|
||||
@@ -1,80 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "WorkItem.hpp"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
class ScheduledWorkItem : public WorkItem
|
||||
{
|
||||
public:
|
||||
|
||||
ScheduledWorkItem(const wq_config_t &config) : WorkItem(config) {}
|
||||
virtual ~ScheduledWorkItem() override;
|
||||
|
||||
/**
|
||||
* Schedule next run with a delay in microseconds.
|
||||
*
|
||||
* @param delay_us The delay in microseconds.
|
||||
*/
|
||||
void ScheduleDelayed(uint32_t delay_us);
|
||||
|
||||
/**
|
||||
* Schedule repeating run with optional delay.
|
||||
*
|
||||
* @param interval_us The interval in microseconds.
|
||||
* @param delay_us The delay (optional) in microseconds.
|
||||
*/
|
||||
void ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us = 0);
|
||||
|
||||
/**
|
||||
* Clear any scheduled work.
|
||||
*/
|
||||
void ScheduleClear();
|
||||
|
||||
virtual void Run() override = 0;
|
||||
|
||||
private:
|
||||
|
||||
static void schedule_trampoline(void *arg);
|
||||
|
||||
hrt_call _call{};
|
||||
|
||||
};
|
||||
|
||||
} // namespace px4
|
||||
@@ -1,87 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "WorkItem.hpp"
|
||||
|
||||
#include "WorkQueue.hpp"
|
||||
#include "WorkQueueManager.hpp"
|
||||
|
||||
#include <px4_log.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
WorkItem::WorkItem(const wq_config_t &config)
|
||||
{
|
||||
if (!Init(config)) {
|
||||
PX4_ERR("init failed");
|
||||
}
|
||||
}
|
||||
|
||||
WorkItem::~WorkItem()
|
||||
{
|
||||
Deinit();
|
||||
}
|
||||
|
||||
bool WorkItem::Init(const wq_config_t &config)
|
||||
{
|
||||
// clear any existing first
|
||||
Deinit();
|
||||
|
||||
px4::WorkQueue *wq = WorkQueueFindOrCreate(config);
|
||||
|
||||
if (wq == nullptr) {
|
||||
PX4_ERR("%s not available", config.name);
|
||||
|
||||
} else {
|
||||
_wq = wq;
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void WorkItem::Deinit()
|
||||
{
|
||||
// remove any currently queued work
|
||||
if (_wq != nullptr) {
|
||||
// prevent additional insertions
|
||||
px4::WorkQueue *wq_temp = _wq;
|
||||
_wq = nullptr;
|
||||
|
||||
wq_temp->Remove(this);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace px4
|
||||
@@ -1,79 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
|
||||
#include "WorkQueueManager.hpp"
|
||||
#include "WorkQueue.hpp"
|
||||
|
||||
#include <containers/IntrusiveQueue.hpp>
|
||||
#include <px4_defines.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
class WorkItem : public IntrusiveQueueNode<WorkItem *>
|
||||
{
|
||||
public:
|
||||
|
||||
explicit WorkItem(const wq_config_t &config);
|
||||
WorkItem() = delete;
|
||||
|
||||
virtual ~WorkItem();
|
||||
|
||||
inline void ScheduleNow() { if (_wq != nullptr) _wq->Add(this); }
|
||||
|
||||
virtual void Run() = 0;
|
||||
|
||||
protected:
|
||||
|
||||
/**
|
||||
* Initialize WorkItem given a WorkQueue config. This call
|
||||
* can also be used to switch to a different WorkQueue.
|
||||
* NOTE: Caller is responsible for synchronization.
|
||||
*
|
||||
* @param config The WorkQueue configuration (see WorkQueueManager.hpp).
|
||||
* @return true if initialization was successful
|
||||
*/
|
||||
bool Init(const wq_config_t &config);
|
||||
void Deinit();
|
||||
|
||||
private:
|
||||
|
||||
WorkQueue *_wq{nullptr};
|
||||
|
||||
};
|
||||
|
||||
} // namespace px4
|
||||
@@ -1,130 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "WorkQueue.hpp"
|
||||
#include "WorkItem.hpp"
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include <px4_tasks.h>
|
||||
#include <px4_time.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
WorkQueue::WorkQueue(const wq_config_t &config) :
|
||||
_config(config)
|
||||
{
|
||||
// set the threads name
|
||||
#ifdef __PX4_DARWIN
|
||||
pthread_setname_np(_config.name);
|
||||
#elif !defined(__PX4_QURT)
|
||||
pthread_setname_np(pthread_self(), _config.name);
|
||||
#endif
|
||||
|
||||
#ifndef __PX4_NUTTX
|
||||
px4_sem_init(&_qlock, 0, 1);
|
||||
#endif /* __PX4_NUTTX */
|
||||
|
||||
px4_sem_init(&_process_lock, 0, 0);
|
||||
px4_sem_setprotocol(&_process_lock, SEM_PRIO_NONE);
|
||||
}
|
||||
|
||||
WorkQueue::~WorkQueue()
|
||||
{
|
||||
work_lock();
|
||||
px4_sem_destroy(&_process_lock);
|
||||
work_unlock();
|
||||
|
||||
#ifndef __PX4_NUTTX
|
||||
px4_sem_destroy(&_qlock);
|
||||
#endif /* __PX4_NUTTX */
|
||||
}
|
||||
|
||||
void WorkQueue::Add(WorkItem *item)
|
||||
{
|
||||
// TODO: prevent additions when shutting down
|
||||
|
||||
work_lock();
|
||||
_q.push(item);
|
||||
work_unlock();
|
||||
|
||||
// Wake up the worker thread
|
||||
px4_sem_post(&_process_lock);
|
||||
}
|
||||
|
||||
void WorkQueue::Remove(WorkItem *item)
|
||||
{
|
||||
work_lock();
|
||||
_q.remove(item);
|
||||
work_unlock();
|
||||
}
|
||||
|
||||
void WorkQueue::Clear()
|
||||
{
|
||||
work_lock();
|
||||
|
||||
while (!_q.empty()) {
|
||||
_q.pop();
|
||||
}
|
||||
|
||||
work_unlock();
|
||||
}
|
||||
|
||||
void WorkQueue::Run()
|
||||
{
|
||||
while (!should_exit()) {
|
||||
px4_sem_wait(&_process_lock);
|
||||
|
||||
work_lock();
|
||||
|
||||
// process queued work
|
||||
while (!_q.empty()) {
|
||||
WorkItem *work = _q.pop();
|
||||
|
||||
work_unlock(); // unlock work queue to run (item may requeue itself)
|
||||
work->Run();
|
||||
work_lock(); // re-lock
|
||||
}
|
||||
|
||||
work_unlock();
|
||||
}
|
||||
}
|
||||
|
||||
void WorkQueue::print_status()
|
||||
{
|
||||
PX4_INFO("WorkQueue: %s running", get_name());
|
||||
}
|
||||
|
||||
} // namespace px4
|
||||
@@ -1,94 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "WorkQueueManager.hpp"
|
||||
|
||||
#include <containers/List.hpp>
|
||||
#include <containers/IntrusiveQueue.hpp>
|
||||
#include <px4_atomic.h>
|
||||
#include <px4_defines.h>
|
||||
#include <px4_sem.h>
|
||||
#include <px4_tasks.h>
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
class WorkItem;
|
||||
|
||||
class WorkQueue : public ListNode<WorkQueue *>
|
||||
{
|
||||
public:
|
||||
explicit WorkQueue(const wq_config_t &wq_config);
|
||||
WorkQueue() = delete;
|
||||
|
||||
~WorkQueue();
|
||||
|
||||
const char *get_name() { return _config.name; }
|
||||
|
||||
void Add(WorkItem *item);
|
||||
void Remove(WorkItem *item);
|
||||
|
||||
void Clear();
|
||||
|
||||
void Run();
|
||||
|
||||
void request_stop() { _should_exit.store(true); }
|
||||
|
||||
void print_status();
|
||||
|
||||
private:
|
||||
|
||||
bool should_exit() const { return _should_exit.load(); }
|
||||
|
||||
#ifdef __PX4_NUTTX
|
||||
// In NuttX work can be enqueued from an ISR
|
||||
void work_lock() { _flags = enter_critical_section(); }
|
||||
void work_unlock() { leave_critical_section(_flags); }
|
||||
irqstate_t _flags;
|
||||
#else
|
||||
void work_lock() { px4_sem_wait(&_qlock); }
|
||||
void work_unlock() { px4_sem_post(&_qlock); }
|
||||
px4_sem_t _qlock;
|
||||
#endif
|
||||
|
||||
IntrusiveQueue<WorkItem *> _q;
|
||||
px4_sem_t _process_lock;
|
||||
|
||||
px4::atomic_bool _should_exit{false};
|
||||
const wq_config_t &_config;
|
||||
|
||||
};
|
||||
|
||||
} // namespace px4
|
||||
@@ -1,296 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "WorkQueueManager.hpp"
|
||||
|
||||
#include "WorkQueue.hpp"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_posix.h>
|
||||
#include <px4_tasks.h>
|
||||
#include <px4_time.h>
|
||||
#include <px4_atomic.h>
|
||||
#include <containers/BlockingList.hpp>
|
||||
#include <containers/BlockingQueue.hpp>
|
||||
#include <lib/drivers/device/Device.hpp>
|
||||
#include <lib/mathlib/mathlib.h>
|
||||
|
||||
#include <limits.h>
|
||||
#include <string.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
// list of current work queues
|
||||
static BlockingList<WorkQueue *> *_wq_manager_wqs_list{nullptr};
|
||||
|
||||
// queue of WorkQueues to be created (as threads in the wq manager task)
|
||||
static BlockingQueue<const wq_config_t *, 1> *_wq_manager_create_queue{nullptr};
|
||||
|
||||
static px4::atomic_bool _wq_manager_should_exit{false};
|
||||
|
||||
|
||||
static WorkQueue *FindWorkQueueByName(const char *name)
|
||||
{
|
||||
if (_wq_manager_wqs_list == nullptr) {
|
||||
PX4_ERR("not running");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
auto lg = _wq_manager_wqs_list->getLockGuard();
|
||||
|
||||
// search list
|
||||
for (WorkQueue *wq : *_wq_manager_wqs_list) {
|
||||
if (strcmp(wq->get_name(), name) == 0) {
|
||||
return wq;
|
||||
}
|
||||
}
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
WorkQueue *WorkQueueFindOrCreate(const wq_config_t &new_wq)
|
||||
{
|
||||
if (_wq_manager_create_queue == nullptr) {
|
||||
PX4_ERR("not running");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
// search list for existing work queue
|
||||
WorkQueue *wq = FindWorkQueueByName(new_wq.name);
|
||||
|
||||
// create work queue if it doesn't already exist
|
||||
if (wq == nullptr) {
|
||||
// add WQ config to list
|
||||
// main thread wakes up, creates the thread
|
||||
_wq_manager_create_queue->push(&new_wq);
|
||||
|
||||
// we wait until new wq is created, then return
|
||||
uint64_t t = 0;
|
||||
|
||||
while (wq == nullptr && t < 10_s) {
|
||||
// Wait up to 10 seconds, checking every 1 ms
|
||||
t += 1_ms;
|
||||
px4_usleep(1_ms);
|
||||
|
||||
wq = FindWorkQueueByName(new_wq.name);
|
||||
}
|
||||
|
||||
if (wq == nullptr) {
|
||||
PX4_ERR("failed to create %s", new_wq.name);
|
||||
}
|
||||
}
|
||||
|
||||
return wq;
|
||||
}
|
||||
|
||||
const wq_config_t &device_bus_to_wq(uint32_t device_id_int)
|
||||
{
|
||||
union device::Device::DeviceId device_id;
|
||||
device_id.devid = device_id_int;
|
||||
|
||||
const device::Device::DeviceBusType bus_type = device_id.devid_s.bus_type;
|
||||
const uint8_t bus = device_id.devid_s.bus;
|
||||
|
||||
if (bus_type == device::Device::DeviceBusType_I2C) {
|
||||
switch (bus) {
|
||||
case 1: return wq_configurations::I2C1;
|
||||
|
||||
case 2: return wq_configurations::I2C2;
|
||||
|
||||
case 3: return wq_configurations::I2C3;
|
||||
|
||||
case 4: return wq_configurations::I2C4;
|
||||
}
|
||||
|
||||
} else if (bus_type == device::Device::DeviceBusType_SPI) {
|
||||
switch (bus) {
|
||||
case 1: return wq_configurations::SPI1;
|
||||
|
||||
case 2: return wq_configurations::SPI2;
|
||||
|
||||
case 3: return wq_configurations::SPI3;
|
||||
|
||||
case 4: return wq_configurations::SPI4;
|
||||
|
||||
case 5: return wq_configurations::SPI5;
|
||||
|
||||
case 6: return wq_configurations::SPI6;
|
||||
}
|
||||
}
|
||||
|
||||
// otherwise use high priority
|
||||
return wq_configurations::hp_default;
|
||||
};
|
||||
|
||||
static void *WorkQueueRunner(void *context)
|
||||
{
|
||||
wq_config_t *config = static_cast<wq_config_t *>(context);
|
||||
WorkQueue wq(*config);
|
||||
|
||||
// add to work queue list
|
||||
_wq_manager_wqs_list->add(&wq);
|
||||
|
||||
wq.Run();
|
||||
|
||||
// remove from work queue list
|
||||
_wq_manager_wqs_list->remove(&wq);
|
||||
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static void WorkQueueManagerRun()
|
||||
{
|
||||
_wq_manager_wqs_list = new BlockingList<WorkQueue *>();
|
||||
_wq_manager_create_queue = new BlockingQueue<const wq_config_t *, 1>();
|
||||
|
||||
while (!_wq_manager_should_exit.load()) {
|
||||
// create new work queues as needed
|
||||
const wq_config_t *wq = _wq_manager_create_queue->pop();
|
||||
|
||||
if (wq != nullptr) {
|
||||
// create new work queue
|
||||
|
||||
pthread_attr_t attr;
|
||||
int ret_attr_init = pthread_attr_init(&attr);
|
||||
|
||||
if (ret_attr_init != 0) {
|
||||
PX4_ERR("attr init for %s failed (%i)", wq->name, ret_attr_init);
|
||||
}
|
||||
|
||||
sched_param param;
|
||||
int ret_getschedparam = pthread_attr_getschedparam(&attr, ¶m);
|
||||
|
||||
if (ret_getschedparam != 0) {
|
||||
PX4_ERR("getting sched param for %s failed (%i)", wq->name, ret_getschedparam);
|
||||
}
|
||||
|
||||
// stack size
|
||||
#ifndef __PX4_QURT
|
||||
const size_t stacksize = math::max(PTHREAD_STACK_MIN, PX4_STACK_ADJUSTED(wq->stacksize));
|
||||
#else
|
||||
const size_t stacksize = math::max(8 * 1024, PX4_STACK_ADJUSTED(wq->stacksize));
|
||||
#endif
|
||||
int ret_setstacksize = pthread_attr_setstacksize(&attr, stacksize);
|
||||
|
||||
if (ret_setstacksize != 0) {
|
||||
PX4_ERR("setting stack size for %s failed (%i)", wq->name, ret_setstacksize);
|
||||
}
|
||||
|
||||
#ifndef __PX4_QURT
|
||||
// schedule policy FIFO
|
||||
int ret_setschedpolicy = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
|
||||
|
||||
if (ret_setschedpolicy != 0) {
|
||||
PX4_ERR("failed to set sched policy SCHED_FIFO (%i)", ret_setschedpolicy);
|
||||
}
|
||||
|
||||
#endif // ! QuRT
|
||||
|
||||
// priority
|
||||
param.sched_priority = sched_get_priority_max(SCHED_FIFO) + wq->relative_priority;
|
||||
int ret_setschedparam = pthread_attr_setschedparam(&attr, ¶m);
|
||||
|
||||
if (ret_setschedparam != 0) {
|
||||
PX4_ERR("setting sched params for %s failed (%i)", wq->name, ret_setschedparam);
|
||||
}
|
||||
|
||||
// create thread
|
||||
pthread_t thread;
|
||||
int ret_create = pthread_create(&thread, &attr, WorkQueueRunner, (void *)wq);
|
||||
|
||||
if (ret_create == 0) {
|
||||
PX4_INFO("creating: %s, priority: %d, stack: %zu bytes", wq->name, param.sched_priority, stacksize);
|
||||
|
||||
} else {
|
||||
PX4_ERR("failed to create thread for %s (%i): %s", wq->name, ret_create, strerror(ret_create));
|
||||
}
|
||||
|
||||
// destroy thread attributes
|
||||
int ret_destroy = pthread_attr_destroy(&attr);
|
||||
|
||||
if (ret_destroy != 0) {
|
||||
PX4_ERR("failed to destroy thread attributes for %s (%i)", wq->name, ret_create);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int WorkQueueManagerStart()
|
||||
{
|
||||
int task_id = px4_task_spawn_cmd("wq:manager",
|
||||
SCHED_DEFAULT,
|
||||
PX4_WQ_HP_BASE,
|
||||
1200,
|
||||
(px4_main_t)&WorkQueueManagerRun,
|
||||
nullptr);
|
||||
|
||||
if (task_id < 0) {
|
||||
PX4_ERR("task start failed (%i)", task_id);
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int WorkQueueManagerStop()
|
||||
{
|
||||
if (_wq_manager_wqs_list != nullptr) {
|
||||
auto lg = _wq_manager_wqs_list->getLockGuard();
|
||||
|
||||
// ask all work queues (threads) to stop
|
||||
// NOTE: not currently safe without all WorkItems stopping first
|
||||
for (WorkQueue *wq : *_wq_manager_wqs_list) {
|
||||
wq->request_stop();
|
||||
}
|
||||
|
||||
delete _wq_manager_wqs_list;
|
||||
}
|
||||
|
||||
_wq_manager_should_exit.store(true);
|
||||
|
||||
if (_wq_manager_create_queue != nullptr) {
|
||||
// push nullptr to wake the wq manager task
|
||||
_wq_manager_create_queue->push(nullptr);
|
||||
|
||||
px4_usleep(1000);
|
||||
|
||||
delete _wq_manager_create_queue;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
} // namespace px4
|
||||
@@ -1,102 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
namespace px4
|
||||
{
|
||||
|
||||
class WorkQueue; // forward declaration
|
||||
|
||||
struct wq_config_t {
|
||||
const char *name;
|
||||
uint16_t stacksize;
|
||||
int8_t relative_priority; // relative to max
|
||||
};
|
||||
|
||||
namespace wq_configurations
|
||||
{
|
||||
static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1600, 0}; // PX4 inner loop highest priority
|
||||
|
||||
static constexpr wq_config_t SPI1{"wq:SPI1", 1400, -1};
|
||||
static constexpr wq_config_t SPI2{"wq:SPI2", 1400, -2};
|
||||
static constexpr wq_config_t SPI3{"wq:SPI3", 1400, -3};
|
||||
static constexpr wq_config_t SPI4{"wq:SPI4", 1400, -4};
|
||||
static constexpr wq_config_t SPI5{"wq:SPI5", 1400, -5};
|
||||
static constexpr wq_config_t SPI6{"wq:SPI6", 1400, -6};
|
||||
|
||||
static constexpr wq_config_t I2C1{"wq:I2C1", 1250, -7};
|
||||
static constexpr wq_config_t I2C2{"wq:I2C2", 1250, -8};
|
||||
static constexpr wq_config_t I2C3{"wq:I2C3", 1250, -9};
|
||||
static constexpr wq_config_t I2C4{"wq:I2C4", 1250, -10};
|
||||
|
||||
static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 2000, -11}; // PX4 att/pos controllers, highest priority after sensors
|
||||
|
||||
static constexpr wq_config_t hp_default{"wq:hp_default", 1500, -12};
|
||||
static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};
|
||||
|
||||
static constexpr wq_config_t test1{"wq:test1", 800, 0};
|
||||
static constexpr wq_config_t test2{"wq:test2", 800, 0};
|
||||
|
||||
} // namespace wq_configurations
|
||||
|
||||
/**
|
||||
* Start the work queue manager task.
|
||||
*/
|
||||
int WorkQueueManagerStart();
|
||||
|
||||
/**
|
||||
* Stop the work queue manager task.
|
||||
*/
|
||||
int WorkQueueManagerStop();
|
||||
|
||||
/**
|
||||
* Create (or find) a work queue with a particular configuration.
|
||||
*
|
||||
* @param new_wq The work queue configuration (see WorkQueueManager.hpp).
|
||||
* @return A pointer to the WorkQueue, or nullptr on failure.
|
||||
*/
|
||||
WorkQueue *WorkQueueFindOrCreate(const wq_config_t &new_wq);
|
||||
|
||||
/**
|
||||
* Map a PX4 driver device id to a work queue (by sensor bus).
|
||||
*
|
||||
* @param device_id The PX4 driver's device id.
|
||||
* @return A work queue configuration.
|
||||
*/
|
||||
const wq_config_t &device_bus_to_wq(uint32_t device_id);
|
||||
|
||||
|
||||
} // namespace px4
|
||||
@@ -1,44 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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 lib__work_queue__test__wqueue_test
|
||||
MAIN wqueue_test
|
||||
SRCS
|
||||
wqueue_main.cpp
|
||||
wqueue_scheduled_test.cpp
|
||||
wqueue_start.cpp
|
||||
wqueue_test.cpp
|
||||
DEPENDS
|
||||
px4_work_queue
|
||||
)
|
||||
@@ -1,57 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "wqueue_test.h"
|
||||
#include "wqueue_scheduled_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 test 1");
|
||||
WQueueTest wq1;
|
||||
wq1.main();
|
||||
|
||||
PX4_INFO("wqueue test 2 (scheduled)");
|
||||
WQueueScheduledTest wq2;
|
||||
wq2.main();
|
||||
|
||||
PX4_INFO("wqueue test complete, exiting");
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,80 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "wqueue_scheduled_test.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_log.h>
|
||||
#include <px4_time.h>
|
||||
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
using namespace px4;
|
||||
|
||||
AppState WQueueScheduledTest::appState;
|
||||
|
||||
void WQueueScheduledTest::Run()
|
||||
{
|
||||
//PX4_INFO("iter: %d elapsed: %" PRId64 " us", _iter, hrt_elapsed_time(&_qtime));
|
||||
|
||||
if (_iter > 1000) {
|
||||
appState.requestExit();
|
||||
}
|
||||
|
||||
_iter++;
|
||||
}
|
||||
|
||||
int WQueueScheduledTest::main()
|
||||
{
|
||||
appState.setRunning(true);
|
||||
|
||||
_iter = 0;
|
||||
|
||||
// Put work in the work queue
|
||||
ScheduleOnInterval(4000);
|
||||
|
||||
// Wait for work to finsh
|
||||
while (!appState.exitRequested()) {
|
||||
px4_usleep(10000);
|
||||
}
|
||||
|
||||
PX4_INFO("WQueueScheduledTest finished");
|
||||
|
||||
//print_status();
|
||||
|
||||
px4_sleep(2);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,56 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_app.h>
|
||||
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <string.h>
|
||||
|
||||
using namespace px4;
|
||||
|
||||
class WQueueScheduledTest : public px4::ScheduledWorkItem
|
||||
{
|
||||
public:
|
||||
WQueueScheduledTest() : px4::ScheduledWorkItem(px4::wq_configurations::test2) {}
|
||||
~WQueueScheduledTest() = default;
|
||||
|
||||
int main();
|
||||
|
||||
void Run() override;
|
||||
|
||||
static px4::AppState appState; /* track requests to terminate app */
|
||||
|
||||
private:
|
||||
int _iter{0};
|
||||
};
|
||||
@@ -1,90 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#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 = -1; /* Handle of daemon task / thread */
|
||||
|
||||
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[2]) ? (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;
|
||||
}
|
||||
@@ -1,83 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "wqueue_test.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_log.h>
|
||||
#include <px4_time.h>
|
||||
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
using namespace px4;
|
||||
|
||||
AppState WQueueTest::appState;
|
||||
|
||||
void WQueueTest::Run()
|
||||
{
|
||||
//PX4_INFO("iter: %d elapsed: %" PRId64 " us", _iter, hrt_elapsed_time(&_qtime));
|
||||
|
||||
if (_iter > 10000) {
|
||||
appState.requestExit();
|
||||
|
||||
} else {
|
||||
ScheduleNow();
|
||||
}
|
||||
|
||||
_iter++;
|
||||
}
|
||||
|
||||
int WQueueTest::main()
|
||||
{
|
||||
appState.setRunning(true);
|
||||
|
||||
_iter = 0;
|
||||
|
||||
// Put work in the work queue
|
||||
ScheduleNow();
|
||||
|
||||
// Wait for work to finsh
|
||||
while (!appState.exitRequested()) {
|
||||
px4_usleep(5000);
|
||||
}
|
||||
|
||||
PX4_INFO("WQueueTest finished");
|
||||
|
||||
//print_status();
|
||||
|
||||
px4_sleep(2);
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,56 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_app.h>
|
||||
#include <px4_work_queue/WorkItem.hpp>
|
||||
#include <string.h>
|
||||
|
||||
using namespace px4;
|
||||
|
||||
class WQueueTest : public px4::WorkItem
|
||||
{
|
||||
public:
|
||||
WQueueTest() : px4::WorkItem(px4::wq_configurations::test1) {}
|
||||
~WQueueTest() = default;
|
||||
|
||||
int main();
|
||||
|
||||
void Run() override;
|
||||
|
||||
static px4::AppState appState; /* track requests to terminate app */
|
||||
|
||||
private:
|
||||
int _iter{0};
|
||||
};
|
||||
@@ -1,248 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2017 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file shutdown.cpp
|
||||
* Implementation of the API declared in px4_shutdown.h.
|
||||
*/
|
||||
|
||||
#include <board_config.h>
|
||||
|
||||
#include <px4_workqueue.h>
|
||||
#include <px4_shutdown.h>
|
||||
#include <px4_tasks.h>
|
||||
|
||||
#ifndef MODULE_NAME
|
||||
#define MODULE_NAME "shutdown"
|
||||
#endif
|
||||
|
||||
#include <px4_log.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <errno.h>
|
||||
#include <pthread.h>
|
||||
|
||||
static pthread_mutex_t shutdown_mutex =
|
||||
PTHREAD_MUTEX_INITIALIZER; // protects access to shutdown_hooks & shutdown_lock_counter
|
||||
static uint8_t shutdown_lock_counter = 0;
|
||||
|
||||
int px4_shutdown_lock()
|
||||
{
|
||||
int ret = pthread_mutex_lock(&shutdown_mutex);
|
||||
|
||||
if (ret == 0) {
|
||||
++shutdown_lock_counter;
|
||||
return pthread_mutex_unlock(&shutdown_mutex);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int px4_shutdown_unlock()
|
||||
{
|
||||
int ret = pthread_mutex_lock(&shutdown_mutex);
|
||||
|
||||
if (ret == 0) {
|
||||
if (shutdown_lock_counter > 0) {
|
||||
--shutdown_lock_counter;
|
||||
|
||||
} else {
|
||||
PX4_ERR("unmatched number of px4_shutdown_unlock() calls");
|
||||
}
|
||||
|
||||
return pthread_mutex_unlock(&shutdown_mutex);
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
#if (defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_WORKQUEUE)) || __PX4_QURT
|
||||
// minimal NuttX/QuRT build without work queue support
|
||||
|
||||
int px4_register_shutdown_hook(shutdown_hook_t hook)
|
||||
{
|
||||
return -EINVAL;
|
||||
}
|
||||
int px4_unregister_shutdown_hook(shutdown_hook_t hook)
|
||||
{
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
int px4_shutdown_request(bool reboot, bool to_bootloader)
|
||||
{
|
||||
int ret = 0;
|
||||
pthread_mutex_lock(&shutdown_mutex);
|
||||
|
||||
// FIXME: if shutdown_lock_counter > 0, we should wait, but unfortunately we don't have work queues
|
||||
if (reboot) {
|
||||
px4_systemreset(to_bootloader);
|
||||
|
||||
} else {
|
||||
ret = board_shutdown();
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&shutdown_mutex);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
static struct work_s shutdown_work = {};
|
||||
static uint16_t shutdown_counter = 0; ///< count how many times the shutdown worker was executed
|
||||
|
||||
#define SHUTDOWN_ARG_IN_PROGRESS (1<<0)
|
||||
#define SHUTDOWN_ARG_REBOOT (1<<1)
|
||||
#define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2)
|
||||
static uint8_t shutdown_args = 0;
|
||||
|
||||
|
||||
static const int max_shutdown_hooks = 1;
|
||||
static shutdown_hook_t shutdown_hooks[max_shutdown_hooks] = {};
|
||||
|
||||
|
||||
static const int shutdown_timeout_ms = 5000; ///< force shutdown after this time if modules do not respond in time
|
||||
|
||||
|
||||
/**
|
||||
* work queue callback method to shutdown.
|
||||
* @param arg unused
|
||||
*/
|
||||
static void shutdown_worker(void *arg);
|
||||
|
||||
|
||||
int px4_register_shutdown_hook(shutdown_hook_t hook)
|
||||
{
|
||||
pthread_mutex_lock(&shutdown_mutex);
|
||||
|
||||
for (int i = 0; i < max_shutdown_hooks; ++i) {
|
||||
if (!shutdown_hooks[i]) {
|
||||
shutdown_hooks[i] = hook;
|
||||
pthread_mutex_unlock(&shutdown_mutex);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&shutdown_mutex);
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
int px4_unregister_shutdown_hook(shutdown_hook_t hook)
|
||||
{
|
||||
pthread_mutex_lock(&shutdown_mutex);
|
||||
|
||||
for (int i = 0; i < max_shutdown_hooks; ++i) {
|
||||
if (shutdown_hooks[i] == hook) {
|
||||
shutdown_hooks[i] = nullptr;
|
||||
pthread_mutex_unlock(&shutdown_mutex);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&shutdown_mutex);
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void shutdown_worker(void *arg)
|
||||
{
|
||||
PX4_DEBUG("shutdown worker (%i)", shutdown_counter);
|
||||
bool done = true;
|
||||
|
||||
pthread_mutex_lock(&shutdown_mutex);
|
||||
|
||||
for (int i = 0; i < max_shutdown_hooks; ++i) {
|
||||
if (shutdown_hooks[i]) {
|
||||
if (!shutdown_hooks[i]()) {
|
||||
done = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if ((done && shutdown_lock_counter == 0) || ++shutdown_counter > shutdown_timeout_ms / 10) {
|
||||
if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
|
||||
PX4_WARN("Reboot NOW.");
|
||||
px4_systemreset(shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER);
|
||||
|
||||
} else {
|
||||
PX4_WARN("Shutdown NOW. Good Bye.");
|
||||
board_shutdown();
|
||||
}
|
||||
|
||||
pthread_mutex_unlock(&shutdown_mutex); // must NEVER come here
|
||||
|
||||
} else {
|
||||
pthread_mutex_unlock(&shutdown_mutex);
|
||||
work_queue(HPWORK, &shutdown_work, (worker_t)&shutdown_worker, nullptr, USEC2TICK(10000));
|
||||
}
|
||||
}
|
||||
|
||||
int px4_shutdown_request(bool reboot, bool to_bootloader)
|
||||
{
|
||||
// fail immediately if the board does not support the requested method
|
||||
#if defined BOARD_HAS_NO_RESET
|
||||
if (reboot) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
#endif
|
||||
#if !defined(BOARD_HAS_POWER_CONTROL)
|
||||
|
||||
if (!reboot) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
if (shutdown_args & SHUTDOWN_ARG_IN_PROGRESS) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
shutdown_args |= SHUTDOWN_ARG_IN_PROGRESS;
|
||||
|
||||
if (reboot) {
|
||||
shutdown_args |= SHUTDOWN_ARG_REBOOT;
|
||||
}
|
||||
|
||||
if (to_bootloader) {
|
||||
shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER;
|
||||
}
|
||||
|
||||
shutdown_worker(nullptr);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#endif /* (defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_WORKQUEUE)) || __PX4_QURT */
|
||||
@@ -1,57 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
# nuttx uses internal work queue currently
|
||||
if (NOT "${PX4_PLATFORM}" MATCHES "nuttx")
|
||||
|
||||
add_library(work_queue
|
||||
dq_addlast.c
|
||||
dq_rem.c
|
||||
dq_remfirst.c
|
||||
hrt_queue.c
|
||||
hrt_thread.c
|
||||
hrt_work_cancel.c
|
||||
queue.c
|
||||
sq_addafter.c
|
||||
sq_addlast.c
|
||||
sq_remfirst.c
|
||||
work_cancel.c
|
||||
work_lock.c
|
||||
work_queue.c
|
||||
work_thread.c
|
||||
)
|
||||
target_compile_definitions(work_queue PRIVATE MODULE_NAME="work_queue")
|
||||
target_compile_options(work_queue PRIVATE -Wno-cast-align) # TODO: fix and enable
|
||||
add_dependencies(work_queue prebuild_targets)
|
||||
|
||||
endif()
|
||||
@@ -1,73 +0,0 @@
|
||||
/************************************************************
|
||||
* libc/queue/dq_addlast.c
|
||||
*
|
||||
* Copyright (C) 2007, 2011 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.
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Compilation Switches
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Included Files
|
||||
************************************************************/
|
||||
|
||||
#include <stddef.h>
|
||||
#include <queue.h>
|
||||
|
||||
/************************************************************
|
||||
* Public Functions
|
||||
************************************************************/
|
||||
|
||||
/************************************************************
|
||||
* Name: dq_addlast
|
||||
*
|
||||
* Description
|
||||
* dq_addlast adds 'node' to the end of 'queue'
|
||||
*
|
||||
************************************************************/
|
||||
|
||||
void dq_addlast(dq_entry_t *node, dq_queue_t *queue)
|
||||
{
|
||||
node->flink = NULL;
|
||||
node->blink = queue->tail;
|
||||
|
||||
if (!queue->head) {
|
||||
queue->head = node;
|
||||
queue->tail = node;
|
||||
|
||||
} else {
|
||||
queue->tail->flink = node;
|
||||
queue->tail = node;
|
||||
}
|
||||
}
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user