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Uncommenting Qurt platform task code (#20533)

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Zachary Lowell 2022-11-01 17:35:20 -05:00 committed by GitHub
parent 7667883385
commit a2d0199516
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1 changed files with 15 additions and 12 deletions
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27
platforms/qurt/src/px4/tasks.cpp
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@ -35,8 +35,11 @@
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/workqueue.h>
#include <drivers/drv_hrt.h>
#include <pthread.h>
#include "hrt_work.h"
#define PX4_TASK_STACK_SIZE 8192
#define PX4_TASK_MAX_NAME_LENGTH 32
@ -338,25 +341,25 @@ const char *px4_get_taskname()
}
// static void timer_cb(void *data)
// {
// px4_sem_t *sem = reinterpret_cast<px4_sem_t *>(data);
static void timer_cb(void *data)
{
px4_sem_t *sem = reinterpret_cast<px4_sem_t *>(data);
// sem_post(sem);
// }
sem_post(sem);
}
int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *ts)
{
// work_s _hpwork = {};
work_s _hpwork = {};
// struct timespec ts_now;
// px4_clock_gettime(CLOCK_MONOTONIC, &ts_now);
struct timespec ts_now;
px4_clock_gettime(CLOCK_MONOTONIC, &ts_now);
// hrt_abstime timeout_us = ts_to_abstime((struct timespec *)ts) - ts_to_abstime(&ts_now);
hrt_abstime timeout_us = ts_to_abstime((struct timespec *)ts) - ts_to_abstime(&ts_now);
// hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)sem, timeout_us);
// sem_wait(sem);
// hrt_work_cancel(&_hpwork);
hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)sem, timeout_us);
sem_wait(sem);
hrt_work_cancel(&_hpwork);
return 0;
}