ScheduledWorkItem.cpp
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. 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_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
namespace px4
{
ScheduledWorkItem::~ScheduledWorkItem()
{
ScheduleClear();
}
void ScheduledWorkItem::schedule_trampoline(void *arg)
{
ScheduledWorkItem *dev = static_cast<ScheduledWorkItem *>(arg);
dev->ScheduleNow();
}
void ScheduledWorkItem::ScheduleDelayed(uint32_t delay_us)
{
hrt_call_after(&_call, delay_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
}
void ScheduledWorkItem::ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us)
{
hrt_call_every(&_call, delay_us, interval_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
}
void ScheduledWorkItem::ScheduleAt(hrt_abstime time_us)
{
hrt_call_at(&_call, time_us, (hrt_callout)&ScheduledWorkItem::schedule_trampoline, this);
}
void ScheduledWorkItem::ScheduleClear()
{
// first clear any scheduled hrt call, then remove the item from the runnable queue
hrt_cancel(&_call);
WorkItem::ScheduleClear();
}
void ScheduledWorkItem::print_run_status()
{
if (_call.period > 0) {
PX4_INFO_RAW("%-26s %8.1f Hz %12.0f us (%" PRId64 " us)\n", _item_name, (double)average_rate(),
(double)average_interval(), _call.period);
} else {
WorkItem::print_run_status();
}
}
} // namespace px4