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Merge pull request #2268 from mcharleb/hrt_queue-fixes 

Hrt queue fixes
This commit is contained in:
Lorenz Meier 2015-06-03 21:48:04 +02:00
parent 9882b78383 f763c4cc0e
commit cf2d66bd81
15 changed files with 632 additions and 41 deletions
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12
src/drivers/device/vdev.cpp
View File

@ -476,10 +476,10 @@ VDev *VDev::getDev(const char *path)
void VDev::showDevices()
{
int i=0;
PX4_INFO("Devices:\n");
PX4_INFO("Devices:");
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/dev/", 5) == 0) {
PX4_INFO(" %s\n", devmap[i]->name);
PX4_INFO(" %s", devmap[i]->name);
}
}
}
@ -487,10 +487,10 @@ void VDev::showDevices()
void VDev::showTopics()
{
int i=0;
PX4_INFO("Devices:\n");
PX4_INFO("Devices:");
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/obj/", 5) == 0) {
PX4_INFO(" %s\n", devmap[i]->name);
PX4_INFO(" %s", devmap[i]->name);
}
}
}
@ -498,11 +498,11 @@ void VDev::showTopics()
void VDev::showFiles()
{
int i=0;
PX4_INFO("Files:\n");
PX4_INFO("Files:");
for (; i<PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/obj/", 5) != 0 &&
strncmp(devmap[i]->name, "/dev/", 5) != 0) {
PX4_INFO(" %s\n", devmap[i]->name);
PX4_INFO(" %s", devmap[i]->name);
}
}
}

28
src/platforms/posix/drivers/accelsim/accelsim.cpp
View File

@ -625,10 +625,10 @@ ACCELSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
bool want_start = (_call_accel_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
unsigned period = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 500)
if (period < 500)
return -EINVAL;
/* adjust filters */
@ -636,7 +636,7 @@ ACCELSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_accel_call.period = _call_accel_interval = ticks;
_accel_call.period = _call_accel_interval = period;
/* if we need to start the poll state machine, do it */
if (want_start)
@ -749,15 +749,17 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)
bool want_start = (_call_mag_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
unsigned period = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000)
/* check against maximum sane rate (1ms) */
if (period < 1000)
return -EINVAL;
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_mag_call.period = _call_mag_interval = ticks;
_mag_call.period = _call_mag_interval = period;
//PX4_INFO("SET _call_mag_interval=%u", _call_mag_interval);
/* if we need to start the poll state machine, do it */
if (want_start)
@ -934,7 +936,17 @@ ACCELSIM::start()
_mag_reports->flush();
/* start polling at the specified rate */
//PX4_INFO("ACCELSIM::start accel %u", _call_accel_interval);
hrt_call_every(&_accel_call, 1000, _call_accel_interval, (hrt_callout)&ACCELSIM::measure_trampoline, this);
// There is a race here where SENSORIOCSPOLLRATE on the accel starts polling of mag but mag period is set to 0
if (_call_mag_interval == 0) {
PX4_ERR("_call_mag_interval uninitilized - would have set period delay of 0");
_call_mag_interval = 1000;
}
//PX4_INFO("ACCELSIM::start mag %u", _call_mag_interval);
hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&ACCELSIM::mag_measure_trampoline, this);
}
@ -948,6 +960,7 @@ ACCELSIM::stop()
void
ACCELSIM::measure_trampoline(void *arg)
{
//PX4_INFO("ACCELSIM::measure_trampoline");
ACCELSIM *dev = (ACCELSIM *)arg;
/* make another measurement */
@ -957,6 +970,7 @@ ACCELSIM::measure_trampoline(void *arg)
void
ACCELSIM::mag_measure_trampoline(void *arg)
{
//PX4_INFO("ACCELSIM::mag_measure_trampoline");
ACCELSIM *dev = (ACCELSIM *)arg;
/* make another measurement */

2
src/platforms/posix/drivers/airspeedsim/airspeedsim.cpp
View File

@ -211,7 +211,7 @@ Airspeed::ioctl(device::file_t *filp, int cmd, unsigned long arg)
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
long ticks = USEC2TICK(1000000 / arg);
unsigned long ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(_conversion_interval))

6
src/platforms/posix/drivers/barosim/baro.cpp
View File

@ -439,10 +439,10 @@ BAROSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
unsigned long ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if ((long)ticks < USEC2TICK(BAROSIM_CONVERSION_INTERVAL))
if (ticks < USEC2TICK(BAROSIM_CONVERSION_INTERVAL))
return -EINVAL;
/* update interval for next measurement */
@ -559,7 +559,7 @@ BAROSIM::cycle()
* doing pressure measurements at something close to the desired rate.
*/
if ((_measure_phase != 0) &&
((long)_measure_ticks > USEC2TICK(BAROSIM_CONVERSION_INTERVAL))) {
(_measure_ticks > USEC2TICK(BAROSIM_CONVERSION_INTERVAL))) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,

42
src/platforms/posix/px4_layer/drv_hrt.c
View File

@ -42,7 +42,8 @@
#include <semaphore.h>
#include <time.h>
#include <string.h>
#include <stdio.h>
#include <inttypes.h>
#include "hrt_work.h"
static struct sq_queue_s callout_queue;
@ -54,9 +55,9 @@ __EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
static void hrt_call_reschedule(void);
// Intervals in ms
// Intervals in usec
#define HRT_INTERVAL_MIN 50
#define HRT_INTERVAL_MAX 50000
#define HRT_INTERVAL_MAX 50000000
static sem_t _hrt_lock;
static struct work_s _hrt_work;
@ -189,12 +190,12 @@ hrt_call_enter(struct hrt_call *entry)
{
struct hrt_call *call, *next;
//printf("hrt_call_enter\n");
//PX4_INFO("hrt_call_enter");
call = (struct hrt_call *)sq_peek(&callout_queue);
if ((call == NULL) || (entry->deadline < call->deadline)) {
sq_addfirst(&entry->link, &callout_queue);
//lldbg("call enter at head, reschedule\n");
//if (call != NULL) PX4_INFO("call enter at head, reschedule (%lu %lu)", entry->deadline, call->deadline);
/* we changed the next deadline, reschedule the timer event */
hrt_call_reschedule();
@ -210,7 +211,7 @@ hrt_call_enter(struct hrt_call *entry)
} while ((call = next) != NULL);
}
//lldbg("scheduled\n");
//PX4_INFO("scheduled");
}
/**
@ -222,7 +223,7 @@ static void
hrt_tim_isr(void *p)
{
//printf("hrt_tim_isr\n");
//PX4_INFO("hrt_tim_isr");
/* run any callouts that have met their deadline */
hrt_call_invoke();
@ -243,11 +244,11 @@ static void
hrt_call_reschedule()
{
hrt_abstime now = hrt_absolute_time();
hrt_abstime delay = HRT_INTERVAL_MAX;
struct hrt_call *next = (struct hrt_call *)sq_peek(&callout_queue);
hrt_abstime deadline = now + HRT_INTERVAL_MAX;
uint32_t ticks = USEC2TICK(HRT_INTERVAL_MAX*1000);
//printf("hrt_call_reschedule\n");
//PX4_INFO("hrt_call_reschedule");
/*
* Determine what the next deadline will be.
@ -266,26 +267,29 @@ hrt_call_reschedule()
if (next->deadline <= (now + HRT_INTERVAL_MIN)) {
//lldbg("pre-expired\n");
/* set a minimal deadline so that we call ASAP */
ticks = USEC2TICK(HRT_INTERVAL_MIN*1000);
delay = HRT_INTERVAL_MIN;
} else if (next->deadline < deadline) {
//lldbg("due soon\n");
ticks = USEC2TICK((next->deadline - now)*1000);
delay = next->deadline - now;
}
}
// There is no timer ISR, so simulate one by putting an event on the
// high priority work queue
//printf("ticks = %u\n", ticks);
work_queue(HPWORK, &_hrt_work, (worker_t)&hrt_tim_isr, NULL, ticks);
// Remove the existing expiry and update with the new expiry
hrt_work_cancel(&_hrt_work);
hrt_work_queue(&_hrt_work, (worker_t)&hrt_tim_isr, NULL, delay);
}
static void
hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
{
//printf("hrt_call_internal\n");
//PX4_INFO("hrt_call_internal deadline=%lu interval = %lu", deadline, interval);
hrt_lock();
//printf("hrt_call_internal after lock\n");
//PX4_INFO("hrt_call_internal after lock");
/* if the entry is currently queued, remove it */
/* note that we are using a potentially uninitialised
entry->link here, but it is safe as sq_rem() doesn't
@ -297,6 +301,9 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
if (entry->deadline != 0)
sq_rem(&entry->link, &callout_queue);
if (interval < HRT_INTERVAL_MIN) {
PX4_ERR("hrt_call_internal interval too short: %" PRIu64, interval);
}
entry->deadline = deadline;
entry->period = interval;
entry->callout = callout;
@ -372,7 +379,7 @@ hrt_call_invoke(void)
break;
sq_rem(&call->link, &callout_queue);
//lldbg("call pop\n");
//PX4_INFO("call pop");
/* save the intended deadline for periodic calls */
deadline = call->deadline;
@ -385,7 +392,7 @@ hrt_call_invoke(void)
// Unlock so we don't deadlock in callback
hrt_unlock();
//lldbg("call %p: %p(%p)\n", call, call->callout, call->arg);
//PX4_INFO("call %p: %p(%p)", call, call->callout, call->arg);
call->callout(call->arg);
hrt_lock();
@ -398,6 +405,7 @@ hrt_call_invoke(void)
// using hrt_call_delay()
if (call->deadline <= now) {
call->deadline = deadline + call->period;
//PX4_INFO("call deadline set to %lu now=%lu", call->deadline, now);
}
hrt_call_enter(call);

132
src/platforms/posix/px4_layer/hrt_queue.c Normal file
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@ -0,0 +1,132 @@
/****************************************************************************
* libc/wqueue/work_queue.c
*
* Copyright (C) 2009-2011, 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 <signal.h>
#include <stdint.h>
#include <queue.h>
#include <stdio.h>
#include <semaphore.h>
#include <drivers/drv_hrt.h>
#include <px4_workqueue.h>
#include "hrt_work.h"
#ifdef CONFIG_SCHED_WORKQUEUE
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/****************************************************************************
* Private Variables
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: hrt_work_queue
*
* Description:
* Queue work to be performed at a later time. All queued work will be
* performed on the worker thread of of execution (not the caller's).
*
* The work structure is allocated by caller, but completely managed by
* the work queue logic. The caller should never modify the contents of
* the work queue structure; the caller should not call work_queue()
* again until either (1) the previous work has been performed and removed
* from the queue, or (2) work_cancel() has been called to cancel the work
* and remove it from the work queue.
*
* Input parameters:
* work - The work structure to queue
* worker - The worker callback to be invoked. The callback will invoked
* on the worker thread of execution.
* arg - The argument that will be passed to the workder callback when
* int is invoked.
* delay - Delay (in microseconds) from the time queue until the worker
* is invoked. Zero means to perform the work immediately.
*
* Returned Value:
* Zero on success, a negated errno on failure
*
****************************************************************************/
int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay)
{
struct wqueue_s *wqueue = &g_hrt_work;
/* First, initialize the work structure */
work->worker = worker; /* Work callback */
work->arg = arg; /* Callback argument */
work->delay = delay; /* Delay until work performed */
/* Now, time-tag that entry and put it in the work queue. This must be
* done with interrupts disabled. This permits this function to be called
* from with task logic or interrupt handlers.
*/
hrt_work_lock();
work->qtime = hrt_absolute_time(); /* Time work queued */
//PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime);
dq_addlast((dq_entry_t *)work, &wqueue->q);
px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */
hrt_work_unlock();
return PX4_OK;
}
#endif /* CONFIG_SCHED_WORKQUEUE */

256
src/platforms/posix/px4_layer/hrt_thread.c Normal file
View File

@ -0,0 +1,256 @@
/****************************************************************************
* libc/wqueue/work_thread.c
*
* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Modified by: Mark Charlebois to use hrt compatible times
*
* 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 <stdint.h>
#include <stdio.h>
#include <unistd.h>
#include <queue.h>
#include <px4_workqueue.h>
#include <drivers/drv_hrt.h>
#include "hrt_work.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/* The state of each work queue. */
struct wqueue_s g_hrt_work;
/****************************************************************************
* Private Variables
****************************************************************************/
sem_t _hrt_work_lock;
/****************************************************************************
* Private Functions
****************************************************************************/
static void hrt_work_process(void);
/****************************************************************************
* Name: work_process
*
* Description:
* This is the logic that performs actions placed on any work list.
*
* Input parameters:
* wqueue - Describes the work queue to be processed
*
* Returned Value:
* None
*
****************************************************************************/
static void hrt_work_process()
{
struct wqueue_s *wqueue = &g_hrt_work;
volatile FAR struct work_s *work;
worker_t worker;
FAR void *arg;
uint64_t elapsed;
uint32_t remaining;
uint32_t next;
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
/* Default to sleeping for 1 sec */
next = 1000000;
hrt_work_lock();
work = (FAR struct work_s *)wqueue->q.head;
while (work)
{
/* Is this work ready? It is ready if there is no delay or if
* the delay has elapsed. qtime is the time that the work was added
* to the work queue. It will always be greater than or equal to
* zero. Therefore a delay of zero will always execute immediately.
*/
elapsed = hrt_absolute_time() - work->qtime;
//PX4_INFO("hrt work_process: in usec elapsed=%lu delay=%u work=%p", elapsed, work->delay, work);
if (elapsed >= work->delay)
{
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
//PX4_INFO("Dequeued work=%p", work);
/* Extract the work description from the entry (in case the work
* instance by the re-used after it has been de-queued).
*/
worker = work->worker;
arg = work->arg;
/* Mark the work as no longer being queued */
work->worker = NULL;
/* Do the work. Re-enable interrupts while the work is being
* performed... we don't have any idea how long that will take!
*/
hrt_work_unlock();
if (!worker) {
PX4_ERR("MESSED UP: worker = 0");
}
else {
worker(arg);
}
/* Now, unfortunately, since we re-enabled interrupts we don't
* know the state of the work list and we will have to start
* back at the head of the list.
*/
hrt_work_lock();
work = (FAR struct work_s *)wqueue->q.head;
}
else
{
/* This one is not ready.. will it be ready before the next
* scheduled wakeup interval?
*/
/* Here: elapsed < work->delay */
remaining = work->delay - elapsed;
//PX4_INFO("remaining=%u delay=%u elapsed=%lu", remaining, work->delay, elapsed);
if (remaining < next)
{
/* Yes.. Then schedule to wake up when the work is ready */
next = remaining;
}
/* Then try the next in the list. */
work = (FAR struct work_s *)work->dq.flink;
//PX4_INFO("next %u work %p", next, work);
}
}
/* Wait awhile to check the work list. We will wait here until either
* the time elapses or until we are awakened by a signal.
*/
hrt_work_unlock();
/* might sleep less if a signal received and new item was queued */
//PX4_INFO("Sleeping for %u usec", next);
usleep(next);
}
/****************************************************************************
* Name: work_hrtthread
*
* Description:
* This is the worker threads that performs actions placed on the ISR work
* list.
*
* work_hpthread and work_lpthread: These are the kernel mode work queues
* (also build in the flat build). One of these threads also performs
* periodic garbage collection (that is otherwise performed by the idle
* thread if CONFIG_SCHED_WORKQUEUE is not defined).
*
* These worker threads are started by the OS during normal bringup.
*
* All of these entrypoints are referenced by OS internally and should not
* not be accessed by application logic.
*
* Input parameters:
* argc, argv (not used)
*
* Returned Value:
* Does not return
*
****************************************************************************/
static int work_hrtthread(int argc, char *argv[])
{
/* Loop forever */
for (;;)
{
/* First, perform garbage collection. This cleans-up memory de-allocations
* that were queued because they could not be freed in that execution
* context (for example, if the memory was freed from an interrupt handler).
* NOTE: If the work thread is disabled, this clean-up is performed by
* the IDLE thread (at a very, very low priority).
*/
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
hrt_work_process();
}
return PX4_OK; /* To keep some compilers happy */
}
/****************************************************************************
* Public Functions
****************************************************************************/
void hrt_work_queue_init(void)
{
sem_init(&_hrt_work_lock, 0, 1);
// Create high priority worker thread
g_hrt_work.pid = px4_task_spawn_cmd("wkr_hrt",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX,
2000,
work_hrtthread,
(char* const*)NULL);
}

65
src/platforms/posix/px4_layer/hrt_work.h Normal file
View File

@ -0,0 +1,65 @@
/****************************************************************************
*
* 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
* 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.
*
****************************************************************************/
#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 delay);
void hrt_work_cancel(struct work_s *work);
inline void hrt_work_lock(void);
inline void hrt_work_unlock(void);
inline void hrt_work_lock()
{
//PX4_INFO("hrt_work_lock");
sem_wait(&_hrt_work_lock);
}
inline void hrt_work_unlock()
{
//PX4_INFO("hrt_work_unlock");
sem_post(&_hrt_work_lock);
}
__END_DECLS

111
src/platforms/posix/px4_layer/hrt_work_cancel.c Normal file
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@ -0,0 +1,111 @@
/****************************************************************************
* libc/wqueue/work_cancel.c
*
* 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>
#include <px4_workqueue.h>
#include "hrt_work.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* 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();
}

3
src/platforms/posix/px4_layer/module.mk
View File

@ -38,6 +38,9 @@
SRCS = \
px4_posix_impl.cpp \
px4_posix_tasks.cpp \
hrt_thread.c \
hrt_queue.c \
hrt_work_cancel.c \
work_thread.c \
work_queue.c \
work_cancel.c \

2
src/platforms/posix/px4_layer/px4_posix_impl.cpp
View File

@ -46,6 +46,7 @@
#include <errno.h>
#include <unistd.h>
#include "systemlib/param/param.h"
#include "hrt_work.h"
__BEGIN_DECLS
@ -63,6 +64,7 @@ void init_once(void);
void init_once(void)
{
work_queues_init();
hrt_work_queue_init();
hrt_init();
}

6
src/platforms/posix/px4_layer/work_cancel.c
View File

@ -41,6 +41,7 @@
#include <px4_defines.h>
#include <queue.h>
#include <px4_workqueue.h>
#include "work_lock.h"
#ifdef CONFIG_SCHED_WORKQUEUE
@ -88,7 +89,6 @@
int work_cancel(int qid, struct work_s *work)
{
struct wqueue_s *wqueue = &g_work[qid];
//irqstate_t flags;
//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
@ -97,7 +97,7 @@ int work_cancel(int qid, struct work_s *work)
* new work is typically added to the work queue from interrupt handlers.
*/
//flags = irqsave();
work_lock(qid);
if (work->worker != NULL)
{
/* A little test of the integrity of the work queue */
@ -113,7 +113,7 @@ int work_cancel(int qid, struct work_s *work)
work->worker = NULL;
}
//irqrestore(flags);
work_unlock(qid);
return PX4_OK;
}

2
src/platforms/posix/px4_layer/work_thread.c
View File

@ -114,7 +114,7 @@ static void work_process(FAR struct wqueue_s *wqueue, int lock_id)
*/
elapsed = USEC2TICK(clock_systimer() - work->qtime);
//printf("work_process: in ticks elapsed=%lu delay=%u\n", elapsed, work->delay);
//PX4_INFO("work_process: queue=%p in ticks elapsed=%lu delay=%u time=%u", wqueue, elapsed, work->delay,clock_systimer());
if (elapsed >= work->delay)
{
/* Remove the ready-to-execute work from the list */

4
src/platforms/px4_defines.h
View File

@ -131,8 +131,8 @@ __BEGIN_DECLS
extern long PX4_TICKS_PER_SEC;
__END_DECLS
#define USEC2TICK(x) (PX4_TICKS_PER_SEC*(long)(x)/1000000L)
#define USEC_PER_TICK (1000000L/PX4_TICKS_PER_SEC)
#define USEC_PER_TICK (1000000UL/PX4_TICKS_PER_SEC)
#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
#define px4_statfs_buf_f_bavail_t unsigned long

2
src/platforms/px4_workqueue.h
View File

@ -69,7 +69,7 @@ struct work_s
struct dq_entry_s dq; /* Implements a doubly linked list */
worker_t worker; /* Work callback */
void *arg; /* Callback argument */
uint32_t qtime; /* Time work queued */
uint64_t qtime; /* Time work queued */
uint32_t delay; /* Delay until work performed */
};