PX4-Autopilot/src/platforms/px4_workqueue.h

/****************************************************************************
 * include/nuttx/wqueue.h
 *
 *   Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name NuttX nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#pragma once

#if defined(__PX4_ROS)
#error "Work queue not supported on ROS"
#elif defined(__PX4_NUTTX)
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#elif defined(__PX4_POSIX)

#include <stdint.h>
#include <queue.h>
#include <px4_platform_types.h>

#ifdef __PX4_QURT
#include <dspal_types.h>
#endif

__BEGIN_DECLS

#define HPWORK 0
#define LPWORK 1
#define NWORKERS 2

struct wqueue_s {
	pid_t             pid; /* The task ID of the worker thread */
	struct dq_queue_s q;   /* The queue of pending work */
};

extern struct wqueue_s g_work[NWORKERS];

/* Defines the work callback */

typedef void (*worker_t)(void *arg);

struct work_s {
	struct dq_entry_s dq;  /* Implements a doubly linked list */
	worker_t  worker;      /* Work callback */
	void *arg;             /* Callback argument */
	uint64_t  qtime;       /* Time work queued */
	uint32_t  delay;       /* Delay until work performed */
};

/****************************************************************************
 * Name: work_queues_init()
 *
 * Description:
 *   Initialize the work queues.
 *
 ****************************************************************************/
void work_queues_init(void);

/****************************************************************************
 * Name: work_queue
 *
 * Description:
 *   Queue work to be performed at a later time.  All queued work will be
 *   performed on the worker thread of of execution (not the caller's).
 *
 *   The work structure is allocated by caller, but completely managed by
 *   the work queue logic.  The caller should never modify the contents of
 *   the work queue structure; the caller should not call work_queue()
 *   again until either (1) the previous work has been performed and removed
 *   from the queue, or (2) work_cancel() has been called to cancel the work
 *   and remove it from the work queue.
 *
 * Input parameters:
 *   qid    - The work queue ID
 *   work   - The work structure to queue
 *   worker - The worker callback to be invoked.  The callback will invoked
 *            on the worker thread of execution.
 *   arg    - The argument that will be passed to the workder callback when
 *            int is invoked.
 *   delay  - Delay (in clock ticks) from the time queue until the worker
 *            is invoked. Zero means to perform the work immediately.
 *
 * Returned Value:
 *   Zero on success, a negated errno on failure
 *
 ****************************************************************************/

int work_queue(int qid, struct work_s *work, worker_t worker, void *arg, uint32_t delay);

/****************************************************************************
 * Name: work_cancel
 *
 * Description:
 *   Cancel previously queued work.  This removes work from the work queue.
 *   After work has been canceled, it may be re-queue by calling work_queue()
 *   again.
 *
 * Input parameters:
 *   qid    - The work queue ID
 *   work   - The previously queue work structure to cancel
 *
 * Returned Value:
 *   Zero on success, a negated errno on failure
 *
 ****************************************************************************/

int work_cancel(int qid, struct work_s *work);

uint32_t clock_systimer(void);

int work_hpthread(int argc, char *argv[]);
int work_lpthread(int argc, char *argv[]);

__END_DECLS

#else
#error "Unknown target OS"
#endif