/****************************************************************************
 *
 *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
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 * 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.
 *
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 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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#include <px4_platform_common/px4_work_queue/WorkItemSingleShot.hpp>


namespace px4
{

WorkItemSingleShot::WorkItemSingleShot(const px4::wq_config_t &config, worker_method method, void *argument)
	: px4::WorkItem("<single_shot>", config), _argument(argument), _method(method)
{
	px4_sem_init(&_sem, 0, 0);
	px4_sem_setprotocol(&_sem, SEM_PRIO_NONE);
}

WorkItemSingleShot::WorkItemSingleShot(const px4::WorkItem &work_item, worker_method method, void *argument)
	: px4::WorkItem("<single_shot>", work_item), _argument(argument), _method(method)
{
	px4_sem_init(&_sem, 0, 0);
}

WorkItemSingleShot::~WorkItemSingleShot()
{
	px4_sem_destroy(&_sem);
}

void WorkItemSingleShot::wait()
{
	while (px4_sem_wait(&_sem) != 0) {}
}

void WorkItemSingleShot::Run()
{
	_method(_argument);
	px4_sem_post(&_sem);
}


} // namespace px4