forked from Archive/PX4-Autopilot
Use work_queue instead of thread
This commit is contained in:
Anton Babushkin
parent
09e60893df
commit
0489595e7f
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@ -45,140 +45,116 @@
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#include <string.h>
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#include <fcntl.h>
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#include <stdbool.h>
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#include <nuttx/sched.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <systemlib/systemlib.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <poll.h>
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#include <drivers/drv_gpio.h>
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static bool thread_should_exit = false;
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static bool thread_running = false;
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struct gpio_led_s
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{
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struct work_s work;
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int gpio_fd;
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struct vehicle_status_s status;
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int vehicle_status_sub;
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bool led_state;
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int counter;
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};
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static struct gpio_led_s gpio_led;
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__EXPORT int gpio_led_main(int argc, char *argv[]);
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static int gpio_led_thread_main(int argc, char *argv[]);
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void gpio_led_start(FAR void *arg);
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static void usage(const char *reason);
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static void
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usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: gpio_led {start|stop|status}\n\n");
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exit(1);
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}
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void gpio_led_cycle(FAR void *arg);
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int gpio_led_main(int argc, char *argv[])
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{
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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printf("gpio_led already running\n");
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/* this is not an error */
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exit(0);
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}
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thread_should_exit = false;
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task_spawn("gpio_led",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MIN,
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2048,
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gpio_led_thread_main,
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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exit(0);
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memset(&gpio_led, 0, sizeof(gpio_led));
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int ret = work_queue(LPWORK, &gpio_led.work, gpio_led_start, &gpio_led, 0);
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if (ret != 0) {
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printf("[gpio_led] Failed to queue work: %d\n", ret);
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exit(1);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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printf("\tgpio_led is running\n");
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} else {
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printf("\tgpio_led not started\n");
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}
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exit(0);
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}
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usage("unrecognized command");
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exit(1);
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exit(0);
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}
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int gpio_led_thread_main(int argc, char *argv[])
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void gpio_led_start(FAR void *arg)
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{
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/* welcome user */
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printf("[gpio_led] started\n");
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FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
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int fd = open(GPIO_DEVICE_PATH, 0);
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if (fd < 0) {
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/* open GPIO device */
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priv->gpio_fd = open(GPIO_DEVICE_PATH, 0);
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if (priv->gpio_fd < 0) {
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printf("[gpio_led] GPIO: open fail\n");
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return ERROR;
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return;
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}
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/* set GPIO EXT 1 as output */
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ioctl(fd, GPIO_SET_OUTPUT, GPIO_EXT_1);
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ioctl(fd, GPIO_CLEAR, GPIO_EXT_1);
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/* initialize values */
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bool led_state = false;
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int counter = 0;
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/* configure GPIO pin */
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ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, GPIO_EXT_1);
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/* subscribe to vehicle status topic */
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struct vehicle_status_s status;
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memset(&status, 0, sizeof(status));
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int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
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memset(&priv->status, 0, sizeof(priv->status));
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priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
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while (!thread_should_exit) {
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bool status_updated;
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orb_check((vehicle_status_sub), &status_updated);
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if (status_updated)
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orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &status);
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int pattern = 0;
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if (status.flag_system_armed) {
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if (status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
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pattern = 0x3f; // ****** solid (armed)
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} else {
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pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning)
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}
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} else {
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if (status.state_machine == SYSTEM_STATE_PREFLIGHT) {
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pattern = 0x00; // ______ off (disarmed, preflight check)
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} else if (status.state_machine == SYSTEM_STATE_STANDBY && status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
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pattern = 0x38; // ***___ slow blink (disarmed, ready)
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} else {
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pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm)
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}
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}
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bool led_state_new = (pattern & (1 << counter)) != 0;
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if (led_state_new != led_state) {
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led_state = led_state_new;
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if (led_state) {
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ioctl(fd, GPIO_SET, GPIO_EXT_1);
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} else {
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ioctl(fd, GPIO_CLEAR, GPIO_EXT_1);
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}
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}
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counter++;
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if (counter > 5)
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counter = 0;
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usleep(333333); // sleep ~1/3s
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/* add worker to queue */
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int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
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if (ret != 0) {
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printf("[gpio_led] Failed to queue work: %d\n", ret);
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return;
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}
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ioctl(fd, GPIO_CLEAR, GPIO_EXT_1);
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printf("[gpio_led] exiting\n");
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return 0;
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printf("[gpio_led] Started\n");
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}
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void gpio_led_cycle(FAR void *arg)
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{
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FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
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/* check for status updates*/
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bool status_updated;
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orb_check(priv->vehicle_status_sub, &status_updated);
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if (status_updated)
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orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
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/* select pattern for current status */
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int pattern = 0;
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if (priv->status.flag_system_armed) {
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if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
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pattern = 0x3f; // ****** solid (armed)
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} else {
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pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning)
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}
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} else {
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if (priv->status.state_machine == SYSTEM_STATE_PREFLIGHT) {
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pattern = 0x00; // ______ off (disarmed, preflight check)
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} else if (priv->status.state_machine == SYSTEM_STATE_STANDBY &&
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priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
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pattern = 0x38; // ***___ slow blink (disarmed, ready)
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} else {
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pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm)
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}
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}
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/* blink pattern */
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bool led_state_new = (pattern & (1 << priv->counter)) != 0;
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if (led_state_new != priv->led_state) {
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priv->led_state = led_state_new;
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if (led_state_new) {
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ioctl(priv->gpio_fd, GPIO_SET, GPIO_EXT_1);
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} else {
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ioctl(priv->gpio_fd, GPIO_CLEAR, GPIO_EXT_1);
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}
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}
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priv->counter++;
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if (priv->counter > 5)
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priv->counter = 0;
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/* repeat cycle at 5 Hz*/
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work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
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}
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