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113 lines
3.0 KiB
C++
113 lines
3.0 KiB
C++
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file wqueue_example.cpp
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* Example for Linux
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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#include <px4_time.h>
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#include <px4_workqueue.h>
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#include "wqueue_test.h"
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#include <unistd.h>
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#include <stdio.h>
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px4::AppState WQueueTest::appState;
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void WQueueTest::hp_worker_cb(void *p)
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{
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WQueueTest *wqep = (WQueueTest *)p;
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wqep->do_hp_work();
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}
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void WQueueTest::lp_worker_cb(void *p)
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{
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WQueueTest *wqep = (WQueueTest *)p;
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wqep->do_lp_work();
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}
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void WQueueTest::do_lp_work()
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{
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static int iter = 0;
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printf("done lp work\n");
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if (iter > 5) {
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_lpwork_done = true;
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}
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++iter;
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work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1000);
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}
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void WQueueTest::do_hp_work()
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{
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static int iter = 0;
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printf("done hp work\n");
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if (iter > 5) {
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_hpwork_done = true;
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}
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++iter;
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// requeue
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work_queue(HPWORK, &_hpwork, (worker_t)&hp_worker_cb, this, 1000);
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}
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int WQueueTest::main()
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{
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appState.setRunning(true);
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//Put work on HP work queue
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work_queue(HPWORK, &_hpwork, (worker_t)&hp_worker_cb, this, 1000);
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//Put work on LP work queue
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work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1000);
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// Wait for work to finsh
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while (!appState.exitRequested() && !(_hpwork_done && _lpwork_done)) {
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printf(" Sleeping for 2 sec...\n");
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sleep(2);
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}
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return 0;
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}
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