mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-01 13:50:34 +08:00
Mark Charlebois
d013ac0927
Added more queue support to linux/px4_layer. Use virt char devices for ms5611, and mavlink. Added more HRT functionality. uORB latency test now fails. Likely due to bad HRT impl for Linux. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
117 lines
4.4 KiB
C
117 lines
4.4 KiB
C
/****************************************************************************
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* include/nuttx/wqueue.h
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*
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* Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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 NuttX 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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#pragma once
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#ifdef __PX4_ROS
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#error "Work queue not supported on ROS
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#elif defined(__PX4_NUTTX)
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#elif defined(__PX4_LINUX)
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#include <queue.h>
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#define LPWORK 1
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#define HPWORK 2
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/* Defines the work callback */
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typedef void (*worker_t)(void *arg);
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struct work_s
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{
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struct dq_entry_s dq; /* Implements a doubly linked list */
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worker_t worker; /* Work callback */
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void *arg; /* Callback argument */
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uint32_t qtime; /* Time work queued */
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uint32_t delay; /* Delay until work performed */
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};
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/****************************************************************************
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* Name: work_queue
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*
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* Description:
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* Queue work to be performed at a later time. All queued work will be
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* performed on the worker thread of of execution (not the caller's).
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*
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* The work structure is allocated by caller, but completely managed by
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* the work queue logic. The caller should never modify the contents of
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* the work queue structure; the caller should not call work_queue()
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* again until either (1) the previous work has been performed and removed
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* from the queue, or (2) work_cancel() has been called to cancel the work
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* and remove it from the work queue.
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*
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* Input parameters:
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* qid - The work queue ID
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* work - The work structure to queue
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* worker - The worker callback to be invoked. The callback will invoked
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* on the worker thread of execution.
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* arg - The argument that will be passed to the workder callback when
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* int is invoked.
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* delay - Delay (in clock ticks) from the time queue until the worker
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* is invoked. Zero means to perform the work immediately.
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*
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* Returned Value:
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* Zero on success, a negated errno on failure
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*
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****************************************************************************/
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int work_queue(int qid, FAR struct work_s *work, worker_t worker,
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FAR void *arg, uint32_t delay);
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/****************************************************************************
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* Name: work_cancel
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*
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* Description:
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* Cancel previously queued work. This removes work from the work queue.
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* After work has been canceled, it may be re-queue by calling work_queue()
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* again.
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*
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* Input parameters:
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* qid - The work queue ID
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* work - The previously queue work structure to cancel
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*
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* Returned Value:
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* Zero on success, a negated errno on failure
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*
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****************************************************************************/
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int work_cancel(int qid, FAR struct work_s *work);
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#else
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#error "Unknown target OS"
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#endif
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