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posix:tonealrmsim: use workqueue

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This commit is contained in:
David Sidrane
2018-08-20 12:20:28 -07:00
committed by Lorenz Meier
parent 19a8c3e49c
commit a063de093a
1 changed files with 10 additions and 11 deletions
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src/platforms/posix/drivers/tonealrmsim/tone_alarm.cpp
+10 -11
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@@ -61,6 +61,8 @@
#include <systemlib/err.h>
#include <circuit_breaker/circuit_breaker.h>
#include <px4_workqueue.h>
#include <lib/tunes/tunes.h>
#include <uORB/uORB.h>
#include <uORB/topics/tune_control.h>
@@ -97,8 +99,6 @@ private:
Tunes _tunes;
hrt_call _note_call; // HRT callout for note completion
unsigned _silence_length; // if nonzero, silence before next note
int _cbrk; ///< if true, no audio output
@@ -106,6 +106,8 @@ private:
tune_control_s _tune;
static work_s _work;
// Convert a frequency value into a divisor for the configured timer's clock.
//
unsigned frequency_to_divisor(unsigned frequency);
@@ -122,7 +124,7 @@ private:
//
void next_note();
// hrt_call trampoline for next_note
// work queue trampoline for next_note
//
static void next_trampoline(void *arg);
@@ -130,6 +132,8 @@ private:
virtual void _measure() {}
};
struct work_s ToneAlarm::_work = {};
/*
* Driver 'main' command.
*/
@@ -168,9 +172,8 @@ int ToneAlarm::init()
return ret;
}
_note_call = {};
hrt_call_after(&_note_call, (hrt_abstime)TUNE_MAX_UPDATE_INTERVAL_US, (hrt_callout)next_trampoline, this);
_running = true;
work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, 0);
return OK;
}
@@ -243,8 +246,7 @@ void ToneAlarm::next_note()
// do we have an inter-note gap to wait for?
if (_silence_length > 0) {
stop_note();
_note_call = {};
hrt_call_after(&_note_call, (hrt_abstime)_silence_length, (hrt_callout)next_trampoline, this);
work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(_silence_length));
_silence_length = 0;
return;
}
@@ -255,7 +257,6 @@ void ToneAlarm::next_note()
if (updated) {
orb_copy(ORB_ID(tune_control), _tune_control_sub, &_tune);
_play_tone = _tunes.set_control(_tune) == 0;
}
unsigned frequency = 0;
@@ -290,9 +291,7 @@ void ToneAlarm::next_note()
}
// and arrange a callback when the note should stop
assert(duration != 0);
_note_call = {};
hrt_call_after(&_note_call, (hrt_abstime) duration, (hrt_callout)next_trampoline, this);
work_queue(HPWORK, &_work, (worker_t)&ToneAlarm::next_trampoline, this, USEC2TICK(duration));
}
void ToneAlarm::next_trampoline(void *arg)