void hrt_work_cancel(struct work_s *work)
{
struct wqueue_s *wqueue = &g_hrt_work;
//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
/* Cancelling the work is simply a matter of removing the work structure
* from the work queue. This must be done with interrupts disabled because
* new work is typically added to the work queue from interrupt handlers.
*/
hrt_work_lock();
if (work->worker != NULL) {
/* A little test of the integrity of the work queue */
//DEBUGASSERT(work->dq.flink ||(dq_entry_t *)work == wqueue->q.tail);
//DEBUGASSERT(work->dq.blink ||(dq_entry_t *)work == wqueue->q.head);
/* Remove the entry from the work queue and make sure that it is
* mark as availalbe (i.e., the worker field is nullified).
*/
dq_rem((dq_entry_t *)work, &wqueue->q);
work->worker = NULL;
}
hrt_work_unlock();
}
int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay)
{
struct wqueue_s *wqueue = &g_hrt_work;
/* 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.
*/
hrt_work_lock();
work->qtime = hrt_absolute_time(); /* Time work queued */
//PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime);
dq_addlast((dq_entry_t *)work, &wqueue->q);
px4_task_kill(wqueue->pid, SIGALRM); /* Wake up the worker thread */
hrt_work_unlock();
return PX4_OK;
}
