wqueue_test.cpp
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/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file wqueue_example.cpp
* Example for Linux
*
* @author Mark Charlebois <charlebm@gmail.com>
*/
#include "wqueue_test.h"
#include <px4_platform_common/time.h>
#include <px4_platform_common/workqueue.h>
#include <unistd.h>
#include <stdio.h>
px4::AppState WQueueTest::appState;
void WQueueTest::hp_worker_cb(void *p)
{
WQueueTest *wqep = (WQueueTest *)p;
wqep->do_hp_work();
}
void WQueueTest::lp_worker_cb(void *p)
{
WQueueTest *wqep = (WQueueTest *)p;
wqep->do_lp_work();
}
void WQueueTest::do_lp_work()
{
static int iter = 0;
printf("done lp work\n");
if (iter > 5) {
_lpwork_done = true;
}
++iter;
work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1000);
}
void WQueueTest::do_hp_work()
{
static int iter = 0;
printf("done hp work\n");
if (iter > 5) {
_hpwork_done = true;
}
++iter;
// requeue
work_queue(HPWORK, &_hpwork, (worker_t)&hp_worker_cb, this, 1000);
}
int WQueueTest::main()
{
appState.setRunning(true);
//Put work on HP work queue
work_queue(HPWORK, &_hpwork, (worker_t)&hp_worker_cb, this, 1000);
//Put work on LP work queue
work_queue(LPWORK, &_lpwork, (worker_t)&lp_worker_cb, this, 1000);
// Wait for work to finsh
while (!appState.exitRequested() && !(_hpwork_done && _lpwork_done)) {
printf(" Sleeping for 2 sec...\n");
sleep(2);
}
return 0;
}