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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /nuttx/sched/work_queue.c | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'nuttx/sched/work_queue.c')
-rw-r--r-- | nuttx/sched/work_queue.c | 132 |
1 files changed, 132 insertions, 0 deletions
diff --git a/nuttx/sched/work_queue.c b/nuttx/sched/work_queue.c new file mode 100644 index 000000000..beeac168d --- /dev/null +++ b/nuttx/sched/work_queue.c @@ -0,0 +1,132 @@ +/**************************************************************************** + * sched/work_queue.c + * + * Copyright (C) 2009-2011 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 <nuttx/config.h> + +#include <stdint.h> +#include <queue.h> +#include <assert.h> +#include <errno.h> +#include <debug.h> + +#include <nuttx/arch.h> +#include <nuttx/clock.h> +#include <nuttx/wqueue.h> + +#include "work_internal.h" + +#ifdef CONFIG_SCHED_WORKQUEUE + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Type Declarations + ****************************************************************************/ + +/**************************************************************************** + * Public Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Variables + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ +/**************************************************************************** + * Name: 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 clock ticks) 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 work_queue(struct work_s *work, worker_t worker, FAR void *arg, uint32_t delay) +{ + irqstate_t flags; + + DEBUGASSERT(work != NULL); + + /* 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. + */ + + flags = irqsave(); + work->qtime = clock_systimer(); /* Time work queued */ + dq_addlast((FAR dq_entry_t *)work, &g_work); + work_signal(); /* Wake up the worker thread */ + irqrestore(flags); + return OK; +} + +#endif /* CONFIG_SCHED_WORKQUEUE */ |