mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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f8e0441e7b
Script to update include paths: for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
131 lines
3.3 KiB
C++
131 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. 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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#include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <string.h>
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#include <px4_tasks.h>
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#include <px4_time.h>
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#include <drivers/drv_hrt.h>
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namespace px4
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{
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WorkQueue::WorkQueue(const wq_config_t &config) :
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_config(config)
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{
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// set the threads name
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#ifdef __PX4_DARWIN
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pthread_setname_np(_config.name);
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#elif !defined(__PX4_QURT)
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pthread_setname_np(pthread_self(), _config.name);
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#endif
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#ifndef __PX4_NUTTX
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px4_sem_init(&_qlock, 0, 1);
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#endif /* __PX4_NUTTX */
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px4_sem_init(&_process_lock, 0, 0);
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px4_sem_setprotocol(&_process_lock, SEM_PRIO_NONE);
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}
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WorkQueue::~WorkQueue()
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{
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work_lock();
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px4_sem_destroy(&_process_lock);
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work_unlock();
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#ifndef __PX4_NUTTX
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px4_sem_destroy(&_qlock);
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#endif /* __PX4_NUTTX */
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}
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void WorkQueue::Add(WorkItem *item)
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{
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// TODO: prevent additions when shutting down
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work_lock();
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_q.push(item);
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work_unlock();
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// Wake up the worker thread
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px4_sem_post(&_process_lock);
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}
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void WorkQueue::Remove(WorkItem *item)
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{
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work_lock();
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_q.remove(item);
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work_unlock();
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}
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void WorkQueue::Clear()
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{
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work_lock();
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while (!_q.empty()) {
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_q.pop();
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}
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work_unlock();
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}
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void WorkQueue::Run()
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{
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while (!should_exit()) {
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px4_sem_wait(&_process_lock);
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work_lock();
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// process queued work
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while (!_q.empty()) {
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WorkItem *work = _q.pop();
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work_unlock(); // unlock work queue to run (item may requeue itself)
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work->Run();
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work_lock(); // re-lock
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}
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work_unlock();
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}
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}
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void WorkQueue::print_status()
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{
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PX4_INFO("WorkQueue: %s running", get_name());
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}
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} // namespace px4
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