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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-14 14:44:18 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-14 14:44:18 -0700 |
| commit | 1f39904cea60e0291a13acd4642771e217cfd411 (patch) | |
| tree | 03d3782224ed36a24a7e46be189cdf9836ece231 | |
| parent | 57b8dee7092eb84e8f4f31dcee85736eedb2ca8f (diff) | |
| parent | fbe595a591734bffa95d28125b8e0bda117d7314 (diff) | |
| download | px4-firmware-1f39904cea60e0291a13acd4642771e217cfd411.tar.gz px4-firmware-1f39904cea60e0291a13acd4642771e217cfd411.tar.bz2 px4-firmware-1f39904cea60e0291a13acd4642771e217cfd411.zip | |
Merge pull request #466 from PX4/work_queue_test
RGB Led work queue revision - fixes #464
| -rw-r--r-- | src/drivers/rgbled/rgbled.cpp | 26 |
1 files changed, 14 insertions, 12 deletions
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp index fedff769b..ea87b37d9 100644 --- a/src/drivers/rgbled/rgbled.cpp +++ b/src/drivers/rgbled/rgbled.cpp @@ -103,6 +103,7 @@ private: bool _running; int _led_interval; + bool _should_run; int _counter; void set_color(rgbled_color_t ledcolor); @@ -136,6 +137,7 @@ RGBLED::RGBLED(int bus, int rgbled) : _brightness(1.0f), _running(false), _led_interval(0), + _should_run(false), _counter(0) { memset(&_work, 0, sizeof(_work)); @@ -248,6 +250,11 @@ RGBLED::led_trampoline(void *arg) void RGBLED::led() { + if (!_should_run) { + _running = false; + return; + } + switch (_mode) { case RGBLED_MODE_BLINK_SLOW: case RGBLED_MODE_BLINK_NORMAL: @@ -409,10 +416,10 @@ RGBLED::set_mode(rgbled_mode_t mode) { if (mode != _mode) { _mode = mode; - bool should_run = false; switch (mode) { case RGBLED_MODE_OFF: + _should_run = false; send_led_enable(false); break; @@ -423,7 +430,7 @@ RGBLED::set_mode(rgbled_mode_t mode) break; case RGBLED_MODE_BLINK_SLOW: - should_run = true; + _should_run = true; _counter = 0; _led_interval = 2000; _brightness = 1.0f; @@ -431,7 +438,7 @@ RGBLED::set_mode(rgbled_mode_t mode) break; case RGBLED_MODE_BLINK_NORMAL: - should_run = true; + _should_run = true; _counter = 0; _led_interval = 500; _brightness = 1.0f; @@ -439,7 +446,7 @@ RGBLED::set_mode(rgbled_mode_t mode) break; case RGBLED_MODE_BLINK_FAST: - should_run = true; + _should_run = true; _counter = 0; _led_interval = 100; _brightness = 1.0f; @@ -447,14 +454,14 @@ RGBLED::set_mode(rgbled_mode_t mode) break; case RGBLED_MODE_BREATHE: - should_run = true; + _should_run = true; _counter = 0; _led_interval = 25; send_led_enable(true); break; case RGBLED_MODE_PATTERN: - should_run = true; + _should_run = true; _counter = 0; _brightness = 1.0f; send_led_enable(true); @@ -466,16 +473,11 @@ RGBLED::set_mode(rgbled_mode_t mode) } /* if it should run now, start the workq */ - if (should_run && !_running) { + if (_should_run && !_running) { _running = true; work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1); } - /* if it should stop, then cancel the workq */ - if (!should_run && _running) { - _running = false; - work_cancel(LPWORK, &_work); - } } } |