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Merge pull request #466 from PX4/work_queue_test

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RGB Led work queue revision - fixes #464
This commit is contained in:
Lorenz Meier
2013-10-14 14:44:18 -07:00
parent 57b8dee709 fbe595a591
commit 1f39904cea
1 changed files with 14 additions and 12 deletions
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26
src/drivers/rgbled/rgbled.cpp
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@@ -103,6 +103,7 @@ private:
bool _running;
int _led_interval;
bool _should_run;
int _counter;
void set_color(rgbled_color_t ledcolor);
@@ -136,6 +137,7 @@ RGBLED::RGBLED(int bus, int rgbled) :
_brightness(1.0f),
_running(false),
_led_interval(0),
_should_run(false),
_counter(0)
{
memset(&_work, 0, sizeof(_work));
@@ -248,6 +250,11 @@ RGBLED::led_trampoline(void *arg)
void
RGBLED::led()
{
if (!_should_run) {
_running = false;
return;
}
switch (_mode) {
case RGBLED_MODE_BLINK_SLOW:
case RGBLED_MODE_BLINK_NORMAL:
@@ -409,10 +416,10 @@ RGBLED::set_mode(rgbled_mode_t mode)
{
if (mode != _mode) {
_mode = mode;
bool should_run = false;
switch (mode) {
case RGBLED_MODE_OFF:
_should_run = false;
send_led_enable(false);
break;
@@ -423,7 +430,7 @@ RGBLED::set_mode(rgbled_mode_t mode)
break;
case RGBLED_MODE_BLINK_SLOW:
should_run = true;
_should_run = true;
_counter = 0;
_led_interval = 2000;
_brightness = 1.0f;
@@ -431,7 +438,7 @@ RGBLED::set_mode(rgbled_mode_t mode)
break;
case RGBLED_MODE_BLINK_NORMAL:
should_run = true;
_should_run = true;
_counter = 0;
_led_interval = 500;
_brightness = 1.0f;
@@ -439,7 +446,7 @@ RGBLED::set_mode(rgbled_mode_t mode)
break;
case RGBLED_MODE_BLINK_FAST:
should_run = true;
_should_run = true;
_counter = 0;
_led_interval = 100;
_brightness = 1.0f;
@@ -447,14 +454,14 @@ RGBLED::set_mode(rgbled_mode_t mode)
break;
case RGBLED_MODE_BREATHE:
should_run = true;
_should_run = true;
_counter = 0;
_led_interval = 25;
send_led_enable(true);
break;
case RGBLED_MODE_PATTERN:
should_run = true;
_should_run = true;
_counter = 0;
_brightness = 1.0f;
send_led_enable(true);
@@ -466,16 +473,11 @@ RGBLED::set_mode(rgbled_mode_t mode)
}
/* if it should run now, start the workq */
if (should_run && !_running) {
if (_should_run && !_running) {
_running = true;
work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1);
}
/* if it should stop, then cancel the workq */
if (!should_run && _running) {
_running = false;
work_cancel(LPWORK, &_work);
}
}
}