forked from Archive/PX4-Autopilot
QuRT: Added missing hrt workqueue files
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
parent
e4a8f32f1b
commit
9ef7db6a36
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/****************************************************************************
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* libc/wqueue/work_queue.c
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*
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* Copyright (C) 2009-2011, 2013 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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 NuttX 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
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||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <signal.h>
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#include <stdint.h>
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#include <queue.h>
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#include <stdio.h>
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#include <semaphore.h>
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#include <drivers/drv_hrt.h>
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#include <px4_workqueue.h>
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#include "hrt_work.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Type Declarations
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****************************************************************************/
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/****************************************************************************
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* Public Variables
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****************************************************************************/
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/****************************************************************************
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* Private Variables
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: hrt_work_queue
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*
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* Description:
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* Queue work to be performed at a later time. All queued work will be
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* performed on the worker thread of of execution (not the caller's).
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*
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* The work structure is allocated by caller, but completely managed by
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* the work queue logic. The caller should never modify the contents of
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* the work queue structure; the caller should not call work_queue()
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* again until either (1) the previous work has been performed and removed
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* from the queue, or (2) work_cancel() has been called to cancel the work
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* and remove it from the work queue.
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*
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* Input parameters:
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* work - The work structure to queue
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* worker - The worker callback to be invoked. The callback will invoked
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* on the worker thread of execution.
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* arg - The argument that will be passed to the workder callback when
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* int is invoked.
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* delay - Delay (in microseconds) from the time queue until the worker
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* is invoked. Zero means to perform the work immediately.
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*
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* Returned Value:
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* Zero on success, a negated errno on failure
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*
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****************************************************************************/
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int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay)
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{
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struct wqueue_s *wqueue = &g_hrt_work;
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/* First, initialize the work structure */
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work->worker = worker; /* Work callback */
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work->arg = arg; /* Callback argument */
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work->delay = delay; /* Delay until work performed */
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/* Now, time-tag that entry and put it in the work queue. This must be
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* done with interrupts disabled. This permits this function to be called
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* from with task logic or interrupt handlers.
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*/
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hrt_work_lock();
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work->qtime = hrt_absolute_time(); /* Time work queued */
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//PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime);
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dq_addlast((dq_entry_t *)work, &wqueue->q);
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px4_task_kill(wqueue->pid, SIGALRM); /* Wake up the worker thread */
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hrt_work_unlock();
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return PX4_OK;
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}
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@ -0,0 +1,256 @@
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/****************************************************************************
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* libc/wqueue/work_thread.c
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*
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* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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* Modified by: Mark Charlebois to use hrt compatible times
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* 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 NuttX 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
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <stdint.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <queue.h>
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#include <px4_workqueue.h>
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#include <drivers/drv_hrt.h>
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#include "hrt_work.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Type Declarations
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****************************************************************************/
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/****************************************************************************
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* Public Variables
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****************************************************************************/
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/* The state of each work queue. */
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struct wqueue_s g_hrt_work;
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/****************************************************************************
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* Private Variables
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****************************************************************************/
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sem_t _hrt_work_lock;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static void hrt_work_process(void);
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/****************************************************************************
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* Name: work_process
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*
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* Description:
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* This is the logic that performs actions placed on any work list.
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*
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* Input parameters:
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* wqueue - Describes the work queue to be processed
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static void hrt_work_process()
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{
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struct wqueue_s *wqueue = &g_hrt_work;
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volatile FAR struct work_s *work;
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worker_t worker;
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FAR void *arg;
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uint64_t elapsed;
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uint32_t remaining;
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uint32_t next;
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/* Then process queued work. We need to keep interrupts disabled while
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* we process items in the work list.
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*/
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/* Default to sleeping for 1 sec */
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next = 1000000;
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hrt_work_lock();
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work = (FAR struct work_s *)wqueue->q.head;
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while (work)
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{
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/* Is this work ready? It is ready if there is no delay or if
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* the delay has elapsed. qtime is the time that the work was added
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* to the work queue. It will always be greater than or equal to
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* zero. Therefore a delay of zero will always execute immediately.
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*/
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elapsed = hrt_absolute_time() - work->qtime;
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//PX4_INFO("hrt work_process: in usec elapsed=%lu delay=%u work=%p", elapsed, work->delay, work);
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if (elapsed >= work->delay)
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{
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/* Remove the ready-to-execute work from the list */
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(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
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//PX4_INFO("Dequeued work=%p", work);
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/* Extract the work description from the entry (in case the work
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* instance by the re-used after it has been de-queued).
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*/
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worker = work->worker;
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arg = work->arg;
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/* Mark the work as no longer being queued */
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work->worker = NULL;
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/* Do the work. Re-enable interrupts while the work is being
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* performed... we don't have any idea how long that will take!
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*/
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hrt_work_unlock();
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if (!worker) {
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PX4_ERR("MESSED UP: worker = 0");
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}
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else {
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worker(arg);
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}
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/* Now, unfortunately, since we re-enabled interrupts we don't
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* know the state of the work list and we will have to start
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* back at the head of the list.
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*/
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hrt_work_lock();
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work = (FAR struct work_s *)wqueue->q.head;
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}
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else
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{
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/* This one is not ready.. will it be ready before the next
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* scheduled wakeup interval?
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*/
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/* Here: elapsed < work->delay */
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remaining = work->delay - elapsed;
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//PX4_INFO("remaining=%u delay=%u elapsed=%lu", remaining, work->delay, elapsed);
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if (remaining < next)
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{
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/* Yes.. Then schedule to wake up when the work is ready */
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next = remaining;
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}
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/* Then try the next in the list. */
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work = (FAR struct work_s *)work->dq.flink;
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//PX4_INFO("next %u work %p", next, work);
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}
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}
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/* Wait awhile to check the work list. We will wait here until either
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* the time elapses or until we are awakened by a signal.
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*/
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hrt_work_unlock();
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/* might sleep less if a signal received and new item was queued */
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//PX4_INFO("Sleeping for %u usec", next);
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usleep(next);
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}
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/****************************************************************************
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* Name: work_hrtthread
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*
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* Description:
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* This is the worker threads that performs actions placed on the ISR work
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* list.
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*
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* work_hpthread and work_lpthread: These are the kernel mode work queues
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* (also build in the flat build). One of these threads also performs
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* periodic garbage collection (that is otherwise performed by the idle
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* thread if CONFIG_SCHED_WORKQUEUE is not defined).
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*
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* These worker threads are started by the OS during normal bringup.
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*
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* All of these entrypoints are referenced by OS internally and should not
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* not be accessed by application logic.
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*
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* Input parameters:
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* argc, argv (not used)
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*
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* Returned Value:
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* Does not return
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*
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****************************************************************************/
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static int work_hrtthread(int argc, char *argv[])
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{
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/* Loop forever */
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for (;;)
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{
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/* First, perform garbage collection. This cleans-up memory de-allocations
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* that were queued because they could not be freed in that execution
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* context (for example, if the memory was freed from an interrupt handler).
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* NOTE: If the work thread is disabled, this clean-up is performed by
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* the IDLE thread (at a very, very low priority).
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*/
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/* Then process queued work. We need to keep interrupts disabled while
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* we process items in the work list.
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*/
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hrt_work_process();
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}
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return PX4_OK; /* To keep some compilers happy */
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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void hrt_work_queue_init(void)
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{
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sem_init(&_hrt_work_lock, 0, 1);
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// Create high priority worker thread
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g_hrt_work.pid = px4_task_spawn_cmd("wkr_hrt",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX,
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2000,
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work_hrtthread,
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(char* const*)NULL);
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}
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@ -0,0 +1,65 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
|
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*
|
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* 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.
|
||||
*
|
||||
****************************************************************************/
|
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|
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#include <px4_log.h>
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#include <semaphore.h>
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#include <px4_workqueue.h>
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#pragma once
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__BEGIN_DECLS
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extern sem_t _hrt_work_lock;
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extern struct wqueue_s g_hrt_work;
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void hrt_work_queue_init(void);
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int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay);
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void hrt_work_cancel(struct work_s *work);
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inline void hrt_work_lock(void);
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inline void hrt_work_unlock(void);
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inline void hrt_work_lock()
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{
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//PX4_INFO("hrt_work_lock");
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sem_wait(&_hrt_work_lock);
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}
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inline void hrt_work_unlock()
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{
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//PX4_INFO("hrt_work_unlock");
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sem_post(&_hrt_work_lock);
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}
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__END_DECLS
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@ -0,0 +1,111 @@
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/****************************************************************************
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* libc/wqueue/work_cancel.c
|
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*
|
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* Copyright (C) 2009-2010, 2012-2013 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <px4_defines.h>
|
||||
#include <queue.h>
|
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#include <px4_workqueue.h>
|
||||
#include "hrt_work.h"
|
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|
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/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
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|
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/****************************************************************************
|
||||
* Private Type Declarations
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Variables
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Variables
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: hrt_work_cancel
|
||||
*
|
||||
* Description:
|
||||
* Cancel previously queued work. This removes work from the work queue.
|
||||
* After work has been canceled, it may be re-queue by calling
|
||||
* hrt_work_queue() again.
|
||||
*
|
||||
* Input parameters:
|
||||
* work - The previously queue work structure to cancel
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void hrt_work_cancel(struct work_s *work)
|
||||
{
|
||||
struct wqueue_s *wqueue = &g_hrt_work;
|
||||
|
||||
//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
|
||||
|
||||
/* Cancelling the work is simply a matter of removing the work structure
|
||||
* from the work queue. This must be done with interrupts disabled because
|
||||
* new work is typically added to the work queue from interrupt handlers.
|
||||
*/
|
||||
|
||||
hrt_work_lock();
|
||||
if (work->worker != NULL)
|
||||
{
|
||||
/* A little test of the integrity of the work queue */
|
||||
|
||||
//DEBUGASSERT(work->dq.flink ||(FAR dq_entry_t *)work == wqueue->q.tail);
|
||||
//DEBUGASSERT(work->dq.blink ||(FAR dq_entry_t *)work == wqueue->q.head);
|
||||
|
||||
/* Remove the entry from the work queue and make sure that it is
|
||||
* mark as availalbe (i.e., the worker field is nullified).
|
||||
*/
|
||||
|
||||
dq_rem((FAR dq_entry_t *)work, &wqueue->q);
|
||||
work->worker = NULL;
|
||||
}
|
||||
|
||||
hrt_work_unlock();
|
||||
}
|
||||
Loading…
Reference in New Issue