irlock move to px4 work queue

src/drivers/irlock/irlock.cpp

@@ -56,7 +56,7 @@
 #include <px4_getopt.h>
 
 #include <nuttx/clock.h>
-#include <nuttx/wqueue.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
 #include <uORB/uORB.h>
@@ -86,10 +86,6 @@
 #define IRLOCK_TAN_ANG_PER_PIXEL_X	(2*IRLOCK_TAN_HALF_FOV_X/IRLOCK_RES_X)
 #define IRLOCK_TAN_ANG_PER_PIXEL_Y	(2*IRLOCK_TAN_HALF_FOV_Y/IRLOCK_RES_Y)
 
-#ifndef CONFIG_SCHED_WORKQUEUE
-# error This requires CONFIG_SCHED_WORKQUEUE.
-#endif
-
 #define IRLOCK_BASE_DEVICE_PATH	"/dev/irlock"
 #define IRLOCK0_DEVICE_PATH	"/dev/irlock0"
 
@@ -110,7 +106,7 @@ struct irlock_s {
 	struct irlock_target_s targets[IRLOCK_OBJECTS_MAX];
 };
 
-class IRLOCK : public device::I2C
+class IRLOCK : public device::I2C, public px4::ScheduledWorkItem
 {
 public:
 	IRLOCK(int bus = IRLOCK_I2C_BUS, int address = IRLOCK_I2C_ADDRESS);
@@ -131,11 +127,8 @@ class IRLOCK : public device::I2C
 	/** stop periodic reads from sensor **/
 	void 		stop();
 
-	/** static function that is called by worker queue, arg will be pointer to instance of this class **/
-	static void	cycle_trampoline(void *arg);
-
 	/** read from device and schedule next read **/
-	void		cycle();
+	void		Run() override;
 
 	/** low level communication with sensor **/
 	int 		read_device();
@@ -146,7 +139,6 @@ class IRLOCK : public device::I2C
 	/** internal variables **/
 	ringbuffer::RingBuffer *_reports;
 	bool _sensor_ok;
-	work_s _work;
 	uint32_t _read_failures;
 
 	int _orb_class_instance;
@@ -166,13 +158,13 @@ extern "C" __EXPORT int irlock_main(int argc, char *argv[]);
 /** constructor **/
 IRLOCK::IRLOCK(int bus, int address) :
 	I2C("irlock", IRLOCK0_DEVICE_PATH, bus, address, 400000),
+	ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
 	_reports(nullptr),
 	_sensor_ok(false),
 	_read_failures(0),
 	_orb_class_instance(-1),
 	_irlock_report_topic(nullptr)
 {
-	memset(&_work, 0, sizeof(_work));
 }
 
 /** destructor **/
@@ -293,32 +285,22 @@ void IRLOCK::start()
 	_reports->flush();
 
 	/** start work queue cycle **/
-	work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, 1);
+	ScheduleNow();
 }
 
 /** stop periodic reads from sensor **/
 void IRLOCK::stop()
 {
-	work_cancel(HPWORK, &_work);
-}
-
-void IRLOCK::cycle_trampoline(void *arg)
-{
-	IRLOCK *device = (IRLOCK *)arg;
-
-	/** check global irlock reference and cycle **/
-	if (g_irlock != nullptr) {
-		device->cycle();
-	}
+	ScheduleClear();
 }
 
-void IRLOCK::cycle()
+void IRLOCK::Run()
 {
 	/** ignoring failure, if we do, we will be back again right away... **/
 	read_device();
 
 	/** schedule the next cycle **/
-	work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, USEC2TICK(IRLOCK_CONVERSION_INTERVAL_US));
+	ScheduleDelayed(IRLOCK_CONVERSION_INTERVAL_US);
 }
 
 ssize_t IRLOCK::read(struct file *filp, char *buffer, size_t buflen)