QuRT: Added missing hrt workqueue files

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/platforms/qurt/px4_layer/hrt_queue.c

+/****************************************************************************
+ * 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"
+
+/****************************************************************************
+ * 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, SIGALRM);      /* Wake up the worker thread */
+
+  hrt_work_unlock();
+  return PX4_OK;
+}
+

src/platforms/qurt/px4_layer/hrt_thread.c

+/****************************************************************************
+ * 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);
+
+}
+

src/platforms/qurt/px4_layer/hrt_work.h

+/****************************************************************************
+ *
+ * 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
+

src/platforms/qurt/px4_layer/hrt_work_cancel.c

+/****************************************************************************
+ * 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();
+}