px4-firmware/platforms/qurt/include/hrt_work.h

/****************************************************************************
 *
 * Copyright (C) 2015 Mark Charlebois. 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
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#include <px4_log.h>
#include <semaphore.h>
#include <px4_workqueue.h>

#pragma once

__BEGIN_DECLS

extern sem_t _hrt_work_lock;
extern struct wqueue_s g_hrt_work;

void hrt_work_queue_init(void);
int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t usdelay);
void hrt_work_cancel(struct work_s *work);

static inline void hrt_work_lock(void);
static inline void hrt_work_unlock(void);

static inline void hrt_work_lock()
{
	//PX4_INFO("hrt_work_lock");
	sem_wait(&_hrt_work_lock);
}

static inline void hrt_work_unlock()
{
	//PX4_INFO("hrt_work_unlock");
	sem_post(&_hrt_work_lock);
}

__END_DECLS