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irlock move to px4 work queue

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This commit is contained in:
Daniel Agar
2019-02-22 10:48:05 -05:00
parent 835a38f6dc
commit cdb207804d
1 changed files with 8 additions and 26 deletions
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34
src/drivers/irlock/irlock.cpp
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@@ -56,7 +56,7 @@
#include <px4_getopt.h>
#include <nuttx/clock.h>
#include <nuttx/wqueue.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#include <uORB/uORB.h>
@@ -86,10 +86,6 @@
#define IRLOCK_TAN_ANG_PER_PIXEL_X (2*IRLOCK_TAN_HALF_FOV_X/IRLOCK_RES_X)
#define IRLOCK_TAN_ANG_PER_PIXEL_Y (2*IRLOCK_TAN_HALF_FOV_Y/IRLOCK_RES_Y)
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
#define IRLOCK_BASE_DEVICE_PATH "/dev/irlock"
#define IRLOCK0_DEVICE_PATH "/dev/irlock0"
@@ -110,7 +106,7 @@ struct irlock_s {
struct irlock_target_s targets[IRLOCK_OBJECTS_MAX];
};
class IRLOCK : public device::I2C
class IRLOCK : public device::I2C, public px4::ScheduledWorkItem
{
public:
IRLOCK(int bus = IRLOCK_I2C_BUS, int address = IRLOCK_I2C_ADDRESS);
@@ -131,11 +127,8 @@ private:
/** stop periodic reads from sensor **/
void stop();
/** static function that is called by worker queue, arg will be pointer to instance of this class **/
static void cycle_trampoline(void *arg);
/** read from device and schedule next read **/
void cycle();
void Run() override;
/** low level communication with sensor **/
int read_device();
@@ -146,7 +139,6 @@ private:
/** internal variables **/
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
work_s _work;
uint32_t _read_failures;
int _orb_class_instance;
@@ -166,13 +158,13 @@ extern "C" __EXPORT int irlock_main(int argc, char *argv[]);
/** constructor **/
IRLOCK::IRLOCK(int bus, int address) :
I2C("irlock", IRLOCK0_DEVICE_PATH, bus, address, 400000),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_reports(nullptr),
_sensor_ok(false),
_read_failures(0),
_orb_class_instance(-1),
_irlock_report_topic(nullptr)
{
memset(&_work, 0, sizeof(_work));
}
/** destructor **/
@@ -293,32 +285,22 @@ void IRLOCK::start()
_reports->flush();
/** start work queue cycle **/
work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, 1);
ScheduleNow();
}
/** stop periodic reads from sensor **/
void IRLOCK::stop()
{
work_cancel(HPWORK, &_work);
ScheduleClear();
}
void IRLOCK::cycle_trampoline(void *arg)
{
IRLOCK *device = (IRLOCK *)arg;
/** check global irlock reference and cycle **/
if (g_irlock != nullptr) {
device->cycle();
}
}
void IRLOCK::cycle()
void IRLOCK::Run()
{
/** ignoring failure, if we do, we will be back again right away... **/
read_device();
/** schedule the next cycle **/
work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, USEC2TICK(IRLOCK_CONVERSION_INTERVAL_US));
ScheduleDelayed(IRLOCK_CONVERSION_INTERVAL_US);
}
ssize_t IRLOCK::read(struct file *filp, char *buffer, size_t buflen)