sf1xx move to px4 work queue

src/drivers/distance_sensor/sf1xx/sf1xx.cpp

@@ -44,7 +44,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
-#include <px4_workqueue.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_module.h>
 
 #include <drivers/device/i2c.h>
@@ -78,29 +78,26 @@
 #define SF1XX_DEVICE_PATH	"/dev/sf1xx"
 
 
-#ifndef CONFIG_SCHED_WORKQUEUE
-# error This requires CONFIG_SCHED_WORKQUEUE.
-#endif
-
-class SF1XX : public device::I2C
+class SF1XX : public device::I2C, public px4::ScheduledWorkItem
 {
 public:
 	SF1XX(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING, int bus = SF1XX_BUS_DEFAULT,
 	      int address = SF1XX_BASEADDR);
-	virtual ~SF1XX();
 
-	virtual int init();
+	virtual ~SF1XX() override;
+
+	int init() override;
 
-	virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
-	virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
+	ssize_t read(device::file_t *filp, char *buffer, size_t buflen) override;
+	int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
 
 	/**
 	* Diagnostics - print some basic information about the driver.
 	*/
 	void print_info();
 
 protected:
-	virtual int probe();
+	int probe() override;
 
 private:
 	/**
@@ -139,32 +136,22 @@ class SF1XX : public device::I2C
 	* Perform a poll cycle; collect from the previous measurement
 	* and start a new one.
 	*/
-	void cycle();
+	void Run() override;
 	int measure();
 	int collect();
 
-	/**
-	* Static trampoline from the workq context; because we don't have a
-	* generic workqueue wrapper yet.
-	*
-	* @param arg Instance pointer for the driver that is polling.
-	*/
-	static void cycle_trampoline(void *arg);
-
 	bool _sensor_ok{false};
 
 	int _class_instance{-1};
 	int _conversion_interval{-1};
-	int _measure_ticks{0};
+	int _measure_interval{0};
 	int _orb_class_instance{-1};
 
 	float _max_distance{-1.0f};
 	float _min_distance{-1.0f};
 
 	uint8_t _rotation{0};
 
-	work_s _work{};
-
 	ringbuffer::RingBuffer  *_reports{nullptr};
 
 	orb_advert_t _distance_sensor_topic{nullptr};
@@ -180,6 +167,7 @@ extern "C" __EXPORT int sf1xx_main(int argc, char *argv[]);
 
 SF1XX::SF1XX(uint8_t rotation, int bus, int address) :
 	I2C("SF1XX", SF1XX_DEVICE_PATH, bus, address, 400000),
+	ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
 	_rotation(rotation)
 {
 }
@@ -340,10 +328,10 @@ SF1XX::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 			/* set default polling rate */
 			case SENSOR_POLLRATE_DEFAULT: {
 					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
+					bool want_start = (_measure_interval == 0);
 
 					/* set interval for next measurement to minimum legal value */
-					_measure_ticks = USEC2TICK(_conversion_interval);
+					_measure_interval = (_conversion_interval);
 
 					/* if we need to start the poll state machine, do it */
 					if (want_start) {
@@ -357,18 +345,18 @@ SF1XX::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 			/* adjust to a legal polling interval in Hz */
 			default: {
 					/* do we need to start internal polling? */
-					bool want_start = (_measure_ticks == 0);
+					bool want_start = (_measure_interval == 0);
 
 					/* convert hz to tick interval via microseconds */
-					int ticks = USEC2TICK(1000000 / arg);
+					int interval = (1000000 / arg);
 
 					/* check against maximum rate */
-					if (ticks < USEC2TICK(_conversion_interval)) {
+					if (interval < _conversion_interval) {
 						return -EINVAL;
 					}
 
 					/* update interval for next measurement */
-					_measure_ticks = ticks;
+					_measure_interval = interval;
 
 					/* if we need to start the poll state machine, do it */
 					if (want_start) {
@@ -399,7 +387,7 @@ SF1XX::read(device::file_t *filp, char *buffer, size_t buflen)
 	}
 
 	/* if automatic measurement is enabled */
-	if (_measure_ticks > 0) {
+	if (_measure_interval > 0) {
 
 		/*
 		 * While there is space in the caller's buffer, and reports, copy them.
@@ -528,25 +516,17 @@ SF1XX::start()
 	measure();
 
 	/* schedule a cycle to start things */
-	work_queue(HPWORK, &_work, (worker_t)&SF1XX::cycle_trampoline, this, USEC2TICK(_conversion_interval));
+	ScheduleDelayed(_conversion_interval);
 }
 
 void
 SF1XX::stop()
 {
-	work_cancel(HPWORK, &_work);
+	ScheduleClear();
 }
 
 void
-SF1XX::cycle_trampoline(void *arg)
-{
-	SF1XX *dev = (SF1XX *)arg;
-
-	dev->cycle();
-}
-
-void
-SF1XX::cycle()
+SF1XX::Run()
 {
 	/* Collect results */
 	if (OK != collect()) {
@@ -557,20 +537,15 @@ SF1XX::cycle()
 	}
 
 	/* schedule a fresh cycle call when the measurement is done */
-	work_queue(HPWORK,
-		   &_work,
-		   (worker_t)&SF1XX::cycle_trampoline,
-		   this,
-		   USEC2TICK(_conversion_interval));
-
+	ScheduleDelayed(_conversion_interval);
 }
 
 void
 SF1XX::print_info()
 {
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-	printf("poll interval:  %u ticks\n", _measure_ticks);
+	printf("poll interval:  %u\n", _measure_interval);
 	_reports->print_info("report queue");
 }