px4_work_queue: add WorkItemSingleShot

To run a specific method on a work queue and wait for it to return.

platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp

@@ -81,6 +81,8 @@ protected:
 
 	explicit WorkItem(const char *name, const wq_config_t &config);
 
+	explicit WorkItem(const char *name, const WorkItem &work_item);
+
 	virtual ~WorkItem();
 
 	/**

platforms/common/include/px4_platform_common/px4_work_queue/WorkItemSingleShot.hpp

@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * 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 PX4 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
+
+#include "WorkItem.hpp"
+#include <px4_platform_common/sem.h>
+
+namespace px4
+{
+
+/**
+ * @class WorkItemSingleShot
+ * Run a method on a specific work queue and wait for it to exit.
+ * Example usage:
+ *   WorkItemSingleShot initializer(px4::device_bus_to_wq(device_id.devid), instantiate, &data);
+ *   initializer.ScheduleNow();
+ *   initializer.wait();
+ */
+class WorkItemSingleShot : public px4::WorkItem
+{
+public:
+	using worker_method = void (*)(void *arg);
+
+	WorkItemSingleShot(const px4::wq_config_t &config, worker_method method, void *argument);
+	WorkItemSingleShot(const px4::WorkItem &work_item, worker_method method, void *argument);
+
+	~WorkItemSingleShot();
+
+	WorkItemSingleShot() = delete;
+
+	// no copy, assignment, move, move assignment
+	WorkItemSingleShot(const WorkItemSingleShot &) = delete;
+	WorkItemSingleShot &operator=(const WorkItemSingleShot &) = delete;
+	WorkItemSingleShot(WorkItemSingleShot &&) = delete;
+	WorkItemSingleShot &operator=(WorkItemSingleShot &&) = delete;
+
+	void wait();
+protected:
+	void Run() override;
+private:
+	void *_argument;
+	worker_method _method;
+	px4_sem_t _sem;
+};
+
+} // namespace px4

platforms/common/px4_work_queue/CMakeLists.txt

@@ -34,6 +34,7 @@
 px4_add_library(px4_work_queue
 	ScheduledWorkItem.cpp
 	WorkItem.cpp
+	WorkItemSingleShot.cpp
 	WorkQueue.cpp
 	WorkQueueManager.cpp
 )

platforms/common/px4_work_queue/WorkItem.cpp

@@ -50,6 +50,17 @@ WorkItem::WorkItem(const char *name, const wq_config_t &config) :
 	}
 }
 
+WorkItem::WorkItem(const char *name, const WorkItem &work_item) :
+	_item_name(name)
+{
+	px4::WorkQueue *wq = work_item._wq;
+
+	if ((wq != nullptr) && wq->Attach(this)) {
+		_wq = wq;
+		_start_time = hrt_absolute_time();
+	}
+}
+
 WorkItem::~WorkItem()
 {
 	Deinit();

platforms/common/px4_work_queue/WorkItemSingleShot.cpp

@@ -0,0 +1,69 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_work_queue/WorkItemSingleShot.hpp>
+
+
+namespace px4
+{
+
+WorkItemSingleShot::WorkItemSingleShot(const px4::wq_config_t &config, worker_method method, void *argument)
+	: px4::WorkItem("<single_shot>", config), _argument(argument), _method(method)
+{
+	px4_sem_init(&_sem, 0, 0);
+}
+
+WorkItemSingleShot::WorkItemSingleShot(const px4::WorkItem &work_item, worker_method method, void *argument)
+	: px4::WorkItem("<single_shot>", work_item), _argument(argument), _method(method)
+{
+	px4_sem_init(&_sem, 0, 0);
+}
+
+WorkItemSingleShot::~WorkItemSingleShot()
+{
+	px4_sem_destroy(&_sem);
+}
+
+void WorkItemSingleShot::wait()
+{
+	while (px4_sem_wait(&_sem) != 0) {}
+}
+
+void WorkItemSingleShot::Run()
+{
+	_method(_argument);
+	px4_sem_post(&_sem);
+}
+
+
+} // namespace px4