forked from Archive/PX4-Autopilot
498 lines
13 KiB
C++
498 lines
13 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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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:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* 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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#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
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#include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/time.h>
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#include <px4_platform_common/atomic.h>
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#include <containers/BlockingList.hpp>
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#include <containers/BlockingQueue.hpp>
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#include <lib/drivers/device/Device.hpp>
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#include <lib/mathlib/mathlib.h>
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#include <limits.h>
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#include <string.h>
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using namespace time_literals;
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namespace px4
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{
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// list of current work queues
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static BlockingList<WorkQueue *> *_wq_manager_wqs_list{nullptr};
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// queue of WorkQueues to be created (as threads in the wq manager task)
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static BlockingQueue<const wq_config_t *, 1> *_wq_manager_create_queue{nullptr};
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static px4::atomic_bool _wq_manager_should_exit{true};
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static px4::atomic_bool _wq_manager_running{false};
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static WorkQueue *
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FindWorkQueueByName(const char *name)
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{
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if (!_wq_manager_running.load()) {
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PX4_ERR("not running");
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return nullptr;
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}
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LockGuard lg{_wq_manager_wqs_list->mutex()};
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// search list
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for (WorkQueue *wq : *_wq_manager_wqs_list) {
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if (strcmp(wq->get_name(), name) == 0) {
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return wq;
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}
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}
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return nullptr;
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}
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WorkQueue *
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WorkQueueFindOrCreate(const wq_config_t &new_wq)
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{
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if (!_wq_manager_running.load()) {
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PX4_ERR("not running");
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return nullptr;
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}
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// search list for existing work queue
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WorkQueue *wq = FindWorkQueueByName(new_wq.name);
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// create work queue if it doesn't already exist
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if (wq == nullptr) {
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// add WQ config to list
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// main thread wakes up, creates the thread
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_wq_manager_create_queue->push(&new_wq);
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// we wait until new wq is created, then return
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uint64_t t = 0;
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while (wq == nullptr && t < 10_s) {
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// Wait up to 10 seconds, checking every 1 ms
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t += 1_ms;
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px4_usleep(1_ms);
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wq = FindWorkQueueByName(new_wq.name);
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}
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if (wq == nullptr) {
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PX4_ERR("failed to create %s", new_wq.name);
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}
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}
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return wq;
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}
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const wq_config_t &
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device_bus_to_wq(uint32_t device_id_int)
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{
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union device::Device::DeviceId device_id;
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device_id.devid = device_id_int;
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const device::Device::DeviceBusType bus_type = device_id.devid_s.bus_type;
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const uint8_t bus = device_id.devid_s.bus;
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if (bus_type == device::Device::DeviceBusType_I2C) {
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switch (bus) {
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case 0: return wq_configurations::I2C0;
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case 1: return wq_configurations::I2C1;
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case 2: return wq_configurations::I2C2;
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case 3: return wq_configurations::I2C3;
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case 4: return wq_configurations::I2C4;
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}
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} else if (bus_type == device::Device::DeviceBusType_SPI) {
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switch (bus) {
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case 0: return wq_configurations::SPI0;
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case 1: return wq_configurations::SPI1;
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case 2: return wq_configurations::SPI2;
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case 3: return wq_configurations::SPI3;
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case 4: return wq_configurations::SPI4;
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case 5: return wq_configurations::SPI5;
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case 6: return wq_configurations::SPI6;
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}
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}
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// otherwise use high priority
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return wq_configurations::hp_default;
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};
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const wq_config_t &
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serial_port_to_wq(const char *serial)
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{
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if (serial == nullptr) {
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return wq_configurations::ttyUnknown;
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} else if (strstr(serial, "ttyS0")) {
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return wq_configurations::ttyS0;
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} else if (strstr(serial, "ttyS1")) {
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return wq_configurations::ttyS1;
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} else if (strstr(serial, "ttyS2")) {
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return wq_configurations::ttyS2;
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} else if (strstr(serial, "ttyS3")) {
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return wq_configurations::ttyS3;
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} else if (strstr(serial, "ttyS4")) {
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return wq_configurations::ttyS4;
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} else if (strstr(serial, "ttyS5")) {
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return wq_configurations::ttyS5;
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} else if (strstr(serial, "ttyS6")) {
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return wq_configurations::ttyS6;
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} else if (strstr(serial, "ttyS7")) {
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return wq_configurations::ttyS7;
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} else if (strstr(serial, "ttyS8")) {
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return wq_configurations::ttyS8;
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} else if (strstr(serial, "ttyS9")) {
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return wq_configurations::ttyS9;
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} else if (strstr(serial, "ttyACM0")) {
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return wq_configurations::ttyACM0;
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}
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PX4_DEBUG("unknown serial port: %s", serial);
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return wq_configurations::ttyUnknown;
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}
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const wq_config_t &ins_instance_to_wq(uint8_t instance)
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{
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switch (instance) {
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case 0: return wq_configurations::INS0;
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case 1: return wq_configurations::INS1;
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case 2: return wq_configurations::INS2;
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case 3: return wq_configurations::INS3;
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}
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PX4_WARN("no INS%d wq configuration, using INS0", instance);
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return wq_configurations::INS0;
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}
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static void *
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WorkQueueRunner(void *context)
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{
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wq_config_t *config = static_cast<wq_config_t *>(context);
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WorkQueue wq(*config);
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// add to work queue list
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_wq_manager_wqs_list->add(&wq);
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wq.Run();
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// remove from work queue list
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_wq_manager_wqs_list->remove(&wq);
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return nullptr;
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}
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#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
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// Wrapper for px4_task_spawn_cmd interface
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inline static int
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WorkQueueRunner(int argc, char *argv[])
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{
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wq_config_t *context = (wq_config_t *)strtoul(argv[argc - 1], nullptr, 16);
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WorkQueueRunner(context);
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return 0;
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}
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#endif
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static int
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WorkQueueManagerRun(int, char **)
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{
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_wq_manager_wqs_list = new BlockingList<WorkQueue *>();
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_wq_manager_create_queue = new BlockingQueue<const wq_config_t *, 1>();
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_wq_manager_running.store(true);
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while (!_wq_manager_should_exit.load()) {
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// create new work queues as needed
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const wq_config_t *wq = _wq_manager_create_queue->pop();
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if (wq != nullptr) {
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// create new work queue
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// stack size
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#if defined(__PX4_NUTTX) || defined(__PX4_QURT)
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const size_t stacksize = math::max(PTHREAD_STACK_MIN, PX4_STACK_ADJUSTED(wq->stacksize));
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#elif defined(__PX4_POSIX)
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// On posix system , the desired stacksize round to the nearest multiplier of the system pagesize
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// It is a requirement of the pthread_attr_setstacksize* function
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const unsigned int page_size = sysconf(_SC_PAGESIZE);
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const size_t stacksize_adj = math::max((int)PTHREAD_STACK_MIN, PX4_STACK_ADJUSTED(wq->stacksize));
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const size_t stacksize = (stacksize_adj + page_size - (stacksize_adj % page_size));
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#endif
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// priority
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int sched_priority = sched_get_priority_max(SCHED_FIFO) + wq->relative_priority;
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// use pthreads for NuttX flat and posix builds. For NuttX protected build, use tasks or kernel threads
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#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT)
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pthread_attr_t attr;
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int ret_attr_init = pthread_attr_init(&attr);
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int ret_setstacksize = pthread_attr_setstacksize(&attr, stacksize);
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if (ret_setstacksize != 0) {
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PX4_ERR("setting stack size for %s failed (%i)", wq->name, ret_setstacksize);
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}
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if (ret_attr_init != 0) {
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PX4_ERR("attr init for %s failed (%i)", wq->name, ret_attr_init);
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}
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sched_param param;
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int ret_getschedparam = pthread_attr_getschedparam(&attr, ¶m);
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if (ret_getschedparam != 0) {
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PX4_ERR("getting sched param for %s failed (%i)", wq->name, ret_getschedparam);
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}
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// schedule policy FIFO
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int ret_setschedpolicy = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
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if (ret_setschedpolicy != 0) {
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PX4_ERR("failed to set sched policy SCHED_FIFO (%i)", ret_setschedpolicy);
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}
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// priority
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param.sched_priority = sched_priority;
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int ret_setschedparam = pthread_attr_setschedparam(&attr, ¶m);
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if (ret_setschedparam != 0) {
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PX4_ERR("setting sched params for %s failed (%i)", wq->name, ret_setschedparam);
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}
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// create thread
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pthread_t thread;
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int ret_create = pthread_create(&thread, &attr, WorkQueueRunner, (void *)wq);
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if (ret_create == 0) {
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PX4_DEBUG("starting: %s, priority: %d, stack: %zu bytes", wq->name, param.sched_priority, stacksize);
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} else {
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PX4_ERR("failed to create thread for %s (%i): %s", wq->name, ret_create, strerror(ret_create));
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}
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// destroy thread attributes
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int ret_destroy = pthread_attr_destroy(&attr);
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if (ret_destroy != 0) {
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PX4_ERR("failed to destroy thread attributes for %s (%i)", wq->name, ret_create);
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}
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#else
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// create thread
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// pack wq struct pointer into string, this is compatible with px4_task_spawn_cmd
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char arg1[sizeof(void *) * 3];
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sprintf(arg1, "%lx", (long unsigned)wq);
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const char *arg[2] = {arg1, nullptr};
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int pid = px4_task_spawn_cmd(wq->name,
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SCHED_FIFO,
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sched_priority,
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stacksize,
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WorkQueueRunner,
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(char *const *)arg);
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if (pid > 0) {
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PX4_DEBUG("starting: %s, priority: %d, stack: %zu bytes", wq->name, sched_priority, stacksize);
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} else {
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PX4_ERR("failed to create thread for %s (%i): %s", wq->name, pid, strerror(pid));
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}
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#endif
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}
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}
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_wq_manager_running.store(false);
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return 0;
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}
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int
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WorkQueueManagerStart()
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{
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if (_wq_manager_should_exit.load() && !_wq_manager_running.load()) {
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_wq_manager_should_exit.store(false);
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int task_id = px4_task_spawn_cmd("wq:manager",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX,
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PX4_STACK_ADJUSTED(1280),
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(px4_main_t)&WorkQueueManagerRun,
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nullptr);
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if (task_id < 0) {
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_wq_manager_should_exit.store(true);
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PX4_ERR("task start failed (%i)", task_id);
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return -errno;
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}
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// Wait until initialized
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int max_tries = 1000;
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while (!_wq_manager_running.load() && --max_tries > 0) {
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px4_usleep(1000);
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}
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if (max_tries <= 0) {
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PX4_ERR("failed to wait for task to start");
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return PX4_ERROR;
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}
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} else {
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PX4_WARN("already running");
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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int
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WorkQueueManagerStop()
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{
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if (!_wq_manager_should_exit.load()) {
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// error can't shutdown until all WorkItems are removed/stopped
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if (_wq_manager_running.load() && (_wq_manager_wqs_list->size() > 0)) {
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PX4_ERR("can't shutdown with active WQs");
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WorkQueueManagerStatus();
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return PX4_ERROR;
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}
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// first ask all WQs to stop
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if (_wq_manager_wqs_list != nullptr) {
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{
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LockGuard lg{_wq_manager_wqs_list->mutex()};
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// ask all work queues (threads) to stop
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// NOTE: not currently safe without all WorkItems stopping first
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for (WorkQueue *wq : *_wq_manager_wqs_list) {
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wq->request_stop();
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}
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}
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// wait until they're all stopped (empty list)
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while (_wq_manager_wqs_list->size() > 0) {
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px4_usleep(1000);
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}
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delete _wq_manager_wqs_list;
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_wq_manager_wqs_list = nullptr;
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}
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_wq_manager_should_exit.store(true);
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if (_wq_manager_create_queue != nullptr) {
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// push nullptr to wake the wq manager task
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_wq_manager_create_queue->push(nullptr);
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px4_usleep(10000);
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delete _wq_manager_create_queue;
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_wq_manager_create_queue = nullptr;
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}
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} else {
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PX4_WARN("not running");
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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int
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WorkQueueManagerStatus()
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{
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if (!_wq_manager_should_exit.load() && _wq_manager_running.load()) {
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const size_t num_wqs = _wq_manager_wqs_list->size();
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PX4_INFO_RAW("\nWork Queue: %-2zu threads RATE INTERVAL\n", num_wqs);
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LockGuard lg{_wq_manager_wqs_list->mutex()};
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size_t i = 0;
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for (WorkQueue *wq : *_wq_manager_wqs_list) {
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i++;
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const bool last_wq = (i >= num_wqs);
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if (!last_wq) {
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PX4_INFO_RAW("|__ %zu) ", i);
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} else {
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PX4_INFO_RAW("\\__ %zu) ", i);
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}
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wq->print_status(last_wq);
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}
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} else {
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PX4_INFO("not running");
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}
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return PX4_OK;
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}
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} // namespace px4
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