forked from Archive/PX4-Autopilot
139 lines
5.6 KiB
C
139 lines
5.6 KiB
C
/****************************************************************************
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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
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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 NuttX 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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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/workqueue.h>
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#include <px4_platform_common/tasks.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 "work_lock.h"
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#ifdef CONFIG_SCHED_WORKQUEUE
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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: 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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* qid - The work queue ID (index)
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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 clock ticks) 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 work_queue(int qid, 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_work[qid];
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//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
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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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work_lock(qid);
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work->qtime = clock_systimer(); /* Time work queued */
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dq_addlast((dq_entry_t *)work, &wqueue->q);
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#ifdef __PX4_QURT
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px4_task_kill(wqueue->pid, SIGALRM); /* Wake up the worker thread */
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#else
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px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */
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#endif
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work_unlock(qid);
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return PX4_OK;
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}
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#endif /* CONFIG_SCHED_WORKQUEUE */
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