PX4 general work queue

.ci/Jenkinsfile-compile

@@ -43,7 +43,7 @@ pipeline {
           ]
 
           def nuttx_builds_other = [
-            target: ["px4_cannode-v1_default", "px4_esc-v1_default", "thiemar_s2740vc-v1_default"],
+            target: ["px4_esc-v1_default", "thiemar_s2740vc-v1_default"],
             image: docker_images.nuttx,
             archive: false
           ]

platforms/nuttx/src/px4_layer/CMakeLists.txt

@@ -44,6 +44,7 @@ if (NOT ${PX4_BOARD} MATCHES "px4_io")
 			nuttx_apps # up_cxxinitialize
 			nuttx_sched
 			drivers_boards_common_arch
+			px4_work_queue
 		)
 else()
 	add_library(px4_layer ${PX4_SOURCE_DIR}/src/platforms/empty.c)

platforms/nuttx/src/px4_layer/px4_init.cpp

@@ -37,6 +37,7 @@
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
+#include <px4_work_queue/WorkQueueManager.hpp>
 #include <systemlib/cpuload.h>
 
 #include <fcntl.h>
@@ -104,5 +105,7 @@ int px4_platform_init(void)
 	cpuload_initialize_once();
 #endif
 
+	px4::WorkQueueManagerStart();
+
 	return PX4_OK;
 }

platforms/posix/CMakeLists.txt

@@ -62,10 +62,11 @@ else()
 			${df_driver_libs}
 			df_driver_framework
 			pthread m
-			
+
 			# horrible circular dependencies that need to be teased apart
-			px4_layer
-			px4_platform
+			px4_layer px4_platform
+			work_queue
+			parameters
 	)
 
 	if (NOT APPLE)

platforms/posix/src/px4_layer/CMakeLists.txt

@@ -55,7 +55,7 @@ add_library(px4_layer
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable
-target_link_libraries(px4_layer PRIVATE work_queue)
+target_link_libraries(px4_layer PRIVATE work_queue px4_work_queue)
 target_link_libraries(px4_layer PRIVATE px4_daemon)
 
 if(ENABLE_LOCKSTEP_SCHEDULER)

platforms/posix/src/px4_layer/px4_init.cpp

@@ -37,12 +37,15 @@
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
+#include <px4_work_queue/WorkQueueManager.hpp>
 
 int px4_platform_init(void)
 {
 	hrt_init();
 
 	param_init();
 
+	px4::WorkQueueManagerStart();
+
 	return PX4_OK;
 }

platforms/qurt/src/px4_layer/px4_init.cpp

@@ -37,12 +37,15 @@
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
+#include <px4_work_queue/WorkQueueManager.hpp>
 
 int px4_platform_init(void)
 {
 	hrt_init();
 
 	param_init();
 
+	px4::WorkQueueManagerStart();
+
 	return PX4_OK;
 }

posix-configs/SITL/init/test/cmd_template.in

@@ -25,7 +25,7 @@ mavlink start -x -u 14556 -r 2000000
 mavlink boot_complete
 
 @cmd_name@ start
-sleep 1
+sleep 3
 @cmd_name@ start
 sleep 1
 @cmd_name@ stop

src/include/containers/BlockingList.hpp

@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file BlockingList.hpp
+ *
+ * A blocking intrusive linked list.
+ */
+
+#pragma once
+
+#include "List.hpp"
+#include "LockGuard.hpp"
+
+#include <pthread.h>
+#include <stdlib.h>
+
+template<class T>
+class BlockingList : public List<T>
+{
+public:
+
+	~BlockingList()
+	{
+		pthread_mutex_destroy(&_mutex);
+		pthread_cond_destroy(&_cv);
+	}
+
+	void add(T newNode)
+	{
+		LockGuard lg{_mutex};
+		List<T>::add(newNode);
+	}
+
+	bool remove(T removeNode)
+	{
+		LockGuard lg{_mutex};
+		return List<T>::remove(removeNode);
+	}
+
+	size_t size() const
+	{
+		LockGuard lg{_mutex};
+		return List<T>::size();
+	}
+
+	void clear()
+	{
+		LockGuard lg{_mutex};
+		List<T>::clear();
+	}
+
+	LockGuard getLockGuard() { return LockGuard{_mutex}; }
+
+private:
+
+	pthread_mutex_t	_mutex = PTHREAD_MUTEX_INITIALIZER;
+	pthread_cond_t	_cv = PTHREAD_COND_INITIALIZER;
+
+};

src/include/containers/BlockingQueue.hpp

@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <pthread.h>
+
+#include "LockGuard.hpp"
+
+template<class T, size_t N>
+class BlockingQueue
+{
+public:
+
+	BlockingQueue() = default;
+
+	~BlockingQueue()
+	{
+		pthread_mutex_destroy(&_mutex);
+		pthread_cond_destroy(&_cv);
+	}
+
+	bool empty() const { return _count == 0; }
+	bool full() const { return _count == N; }
+
+	void push(T newItem)
+	{
+		LockGuard lg(_mutex);
+
+		if (full()) {
+			pthread_cond_wait(&_cv, &_mutex);
+		}
+
+		_data[_tail] = newItem;
+		_tail = (_tail + 1) % N;
+		_count++;
+
+		pthread_cond_signal(&_cv);
+	}
+
+	T pop()
+	{
+		LockGuard lg(_mutex);
+
+		if (empty()) {
+			pthread_cond_wait(&_cv, &_mutex);
+		}
+
+		T ret = _data[_head];
+		_head = (_head + 1) % N;
+		_count--;
+
+		return ret;
+	}
+
+private:
+
+	pthread_mutex_t	_mutex = PTHREAD_MUTEX_INITIALIZER;
+	pthread_cond_t	_cv = PTHREAD_COND_INITIALIZER;
+
+	T _data[N];
+	size_t _count{0};
+
+	size_t _head{0};
+	size_t _tail{0};
+
+};

src/include/containers/List.hpp

@@ -46,12 +46,12 @@ class ListNode
 {
 public:
 
-	void setSibling(T sibling) { _sibling = sibling; }
-	const T getSibling() const { return _sibling; }
+	void setSibling(T sibling) { _list_node_sibling = sibling; }
+	const T getSibling() const { return _list_node_sibling; }
 
 protected:
 
-	T _sibling{nullptr};
+	T _list_node_sibling{nullptr};
 
 };
 

src/include/containers/LockGuard.hpp

@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <pthread.h>
+
+class LockGuard
+{
+public:
+	explicit LockGuard(pthread_mutex_t &mutex) :
+		_mutex(mutex)
+	{
+		pthread_mutex_lock(&_mutex);
+	}
+
+	~LockGuard()
+	{
+		pthread_mutex_unlock(&_mutex);
+	}
+
+private:
+	pthread_mutex_t &_mutex;
+};

src/platforms/common/CMakeLists.txt

@@ -52,4 +52,5 @@ if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
 	target_link_libraries(px4_platform PRIVATE modules__uORB) # px4_log awkward dependency with uORB, TODO: orb should part of the platform layer
 endif()
 
+add_subdirectory(px4_work_queue)
 add_subdirectory(work_queue)