PX4-Autopilot/platforms/common/px4_work_queue/WorkQueue.cpp

/****************************************************************************
 *
 *   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:
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 * 1. Redistributions of source code must retain the above copyright
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 *    used to endorse or promote products derived from this software
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#include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
#include <px4_platform_common/px4_work_queue/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 */
}

bool
WorkQueue::Attach(WorkItem *item)
{
	work_lock();

	if (!should_exit()) {
		_work_items.add(item);
		work_unlock();
		return true;
	}

	work_unlock();
	return false;
}

void
WorkQueue::Detach(WorkItem *item)
{
	work_lock();

	_work_items.remove(item);

	if (_work_items.size() == 0) {
		// shutdown, no active WorkItems
		PX4_DEBUG("stopping: %s, last active WorkItem closing", _config.name);

		request_stop();
		signal_worker_thread();
	}

	work_unlock();
}

void
WorkQueue::Add(WorkItem *item)
{
	work_lock();
	_q.push(item);
	work_unlock();

	signal_worker_thread();
}

void
WorkQueue::signal_worker_thread()
{
	int sem_val;

	if (px4_sem_getvalue(&_process_lock, &sem_val) == 0 && sem_val <= 0) {
		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->RunPreamble();
			work->Run();
			work_lock(); // re-lock
		}

		work_unlock();
	}

	PX4_DEBUG("%s: exiting", _config.name);
}

void
WorkQueue::print_status(bool last)
{
	const size_t num_items = _work_items.size();
	PX4_INFO_RAW("%-16s\n", get_name());
	size_t i = 0;

	for (WorkItem *item : _work_items) {
		i++;

		if (last) {
			PX4_INFO_RAW("    ");

		} else {
			PX4_INFO_RAW("|   ");
		}

		if (i < num_items) {
			PX4_INFO_RAW("|__ %zu) ", i);

		} else {
			PX4_INFO_RAW("\\__ %zu) ", i);
		}

		item->print_run_status();
	}
}

} // namespace px4