examples: add simple work_item example module

boards/airmind/mindpx-v2/default.cmake

@@ -117,4 +117,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/atlflight/eagle/default.cmake

@@ -120,4 +120,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/atlflight/excelsior/default.cmake

@@ -119,4 +119,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/av/x-v1/default.cmake

@@ -115,4 +115,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/beaglebone/blue/default.cmake

@@ -89,4 +89,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/emlid/navio2/default.cmake

@@ -89,4 +89,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/holybro/durandal-v1/default.cmake

@@ -122,4 +122,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/holybro/durandal-v1/stackcheck.cmake

@@ -123,4 +123,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/intel/aerofc-v1/default.cmake

@@ -96,4 +96,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/intel/aerofc-v1/rtps.cmake

@@ -96,4 +96,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/modalai/fc-v1/default.cmake

@@ -116,4 +116,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/mro/ctrl-zero-f7/default.cmake

@@ -121,4 +121,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/mro/x21-777/default.cmake

@@ -115,4 +115,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/mro/x21/default.cmake

@@ -118,4 +118,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/nxp/fmuk66-v3/default.cmake

@@ -119,4 +119,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/omnibus/f4sd/default.cmake

@@ -105,4 +105,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/px4/fmu-v2/default.cmake

@@ -129,4 +129,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/px4/fmu-v2/test.cmake

@@ -127,4 +127,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/px4/fmu-v3/default.cmake

@@ -127,4 +127,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v3/rtps.cmake

@@ -127,4 +127,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v4/default.cmake

@@ -123,4 +123,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v4/rtps.cmake

@@ -122,4 +122,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v4/stackcheck.cmake

@@ -122,4 +122,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/px4/fmu-v4pro/default.cmake

@@ -124,4 +124,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v4pro/rtps.cmake

@@ -124,4 +124,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v5/critmonitor.cmake

@@ -123,4 +123,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v5/default.cmake

@@ -126,4 +126,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v5/irqmonitor.cmake

@@ -123,4 +123,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v5/rtps.cmake

@@ -123,4 +123,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v5/stackcheck.cmake

@@ -124,4 +124,5 @@ px4_add_board(
 		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		#rover_steering_control # Rover example app
 		#uuv_example_app
+		#work_item
 	)

boards/px4/fmu-v5x/default.cmake

@@ -124,4 +124,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake

@@ -125,4 +125,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/raspberrypi/default.cmake

@@ -88,4 +88,5 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)

boards/px4/sitl/default.cmake

@@ -84,6 +84,7 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)
 
 set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")

boards/px4/sitl/rtps.cmake

@@ -84,6 +84,7 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)
 
 set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")

boards/px4/sitl/test.cmake

@@ -82,6 +82,7 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)
 
 set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")

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

@@ -84,8 +84,8 @@ static constexpr wq_config_t UART_UNKNOWN{"wq:UART_UNKNOWN", 1400, -25};
 
 static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};
 
-static constexpr wq_config_t test1{"wq:test1", 800, 0};
-static constexpr wq_config_t test2{"wq:test2", 800, 0};
+static constexpr wq_config_t test1{"wq:test1", 2000, 0};
+static constexpr wq_config_t test2{"wq:test2", 2000, 0};
 
 } // namespace wq_configurations
 

src/examples/work_item/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE examples__work_item
+	MAIN work_item_example
+	COMPILE_FLAGS
+	SRCS
+		WorkItemExample.cpp
+		WorkItemExample.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/examples/work_item/WorkItemExample.cpp

@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 "WorkItemExample.hpp"
+
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+WorkItemExample::WorkItemExample() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
+{
+}
+
+WorkItemExample::~WorkItemExample()
+{
+	perf_free(_loop_perf);
+	perf_free(_loop_interval_perf);
+}
+
+bool WorkItemExample::init()
+{
+	ScheduleOnInterval(1000_us); // 1000 us interval, 1000 Hz rate
+
+	return true;
+}
+
+void WorkItemExample::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+	perf_count(_loop_interval_perf);
+
+
+	// DO WORK
+
+
+
+	// Example
+	// grab latest accelerometer data
+	_sensor_accel_sub.update();
+	const sensor_accel_s &accel = _sensor_accel_sub.get();
+
+
+	// Example
+	// publish some data
+	orb_test_s data{};
+	data.timestamp = hrt_absolute_time();
+	data.val = accel.device_id;
+	_orb_test_pub.publish(data);
+
+
+
+
+	perf_end(_loop_perf);
+}
+
+int WorkItemExample::task_spawn(int argc, char *argv[])
+{
+	WorkItemExample *instance = new WorkItemExample();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int WorkItemExample::print_status()
+{
+	perf_print_counter(_loop_perf);
+	perf_print_counter(_loop_interval_perf);
+	return 0;
+}
+
+int WorkItemExample::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int WorkItemExample::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+Example of a simple module running out of a work queue.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("work_item_example", "template");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int work_item_example_main(int argc, char *argv[])
+{
+	return WorkItemExample::main(argc, argv);
+}

src/examples/work_item/WorkItemExample.hpp

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 <lib/perf/perf_counter.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/topics/orb_test.h>
+#include <uORB/topics/sensor_accel.h>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+
+class WorkItemExample : public ModuleBase<WorkItemExample>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	WorkItemExample();
+	~WorkItemExample() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+	int print_status() override;
+
+private:
+	void Run() override;
+
+	uORB::Publication<orb_test_s> _orb_test_pub{ORB_ID(orb_test)};
+
+	uORB::SubscriptionData<sensor_accel_s> _sensor_accel_sub{ORB_ID(sensor_accel)};
+
+	perf_counter_t	_loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+	perf_counter_t	_loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
+};