forked from Archive/PX4-Autopilot
144 lines
3.6 KiB
C++
144 lines
3.6 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/WorkItem.hpp>
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#include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
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#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
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#include <px4_platform_common/log.h>
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#include <drivers/drv_hrt.h>
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namespace px4
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{
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WorkItem::WorkItem(const char *name, const wq_config_t &config) :
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_item_name(name)
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{
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if (!Init(config)) {
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PX4_ERR("init failed");
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}
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}
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WorkItem::WorkItem(const char *name, const WorkItem &work_item) :
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_item_name(name)
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{
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px4::WorkQueue *wq = work_item._wq;
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if ((wq != nullptr) && wq->Attach(this)) {
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_wq = wq;
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}
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}
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WorkItem::~WorkItem()
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{
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Deinit();
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}
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bool WorkItem::Init(const wq_config_t &config)
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{
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// clear any existing first
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Deinit();
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px4::WorkQueue *wq = WorkQueueFindOrCreate(config);
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if ((wq != nullptr) && wq->Attach(this)) {
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_wq = wq;
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_time_first_run = 0;
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return true;
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}
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PX4_ERR("%s not available", config.name);
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return false;
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}
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void WorkItem::Deinit()
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{
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// remove any currently queued work
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if (_wq != nullptr) {
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// prevent additional insertions
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px4::WorkQueue *wq_temp = _wq;
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_wq = nullptr;
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// remove any queued work
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wq_temp->Remove(this);
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wq_temp->Detach(this);
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}
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}
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void WorkItem::ScheduleClear()
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{
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if (_wq != nullptr) {
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_wq->Remove(this);
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}
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}
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float WorkItem::elapsed_time() const
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{
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return hrt_elapsed_time(&_time_first_run) / 1e6f;
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}
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float WorkItem::average_rate() const
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{
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const float rate = _run_count / elapsed_time();
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if ((_run_count > 1) && PX4_ISFINITE(rate)) {
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return rate;
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}
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return 0.f;
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}
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float WorkItem::average_interval() const
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{
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const float rate = average_rate();
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const float interval = 1e6f / rate;
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if ((rate > FLT_EPSILON) && PX4_ISFINITE(interval)) {
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return roundf(interval);
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}
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return 0.f;
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}
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void WorkItem::print_run_status()
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{
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PX4_INFO_RAW("%-29s %8.1f Hz %12.0f us\n", _item_name, (double)average_rate(), (double)average_interval());
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// reset statistics
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_run_count = 0;
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}
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} // namespace px4
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