void HRTWorkQueue::process(void)
{
DF_LOG_DEBUG("HRTWorkQueue::process");
uint64_t next;
uint64_t elapsed;
uint64_t remaining;
timespec ts;
uint64_t now;
while (!m_exit_requested) {
DF_LOG_DEBUG("HRTWorkQueue::process In while");
hrtLock();
// Wake up every 10 sec if nothing scheduled
next = 10000000;
DFUIntList::Index idx = nullptr;
idx = m_work_list.next(idx);
now = offsetTime();
while ((!m_exit_requested) && (idx != nullptr)) {
DF_LOG_DEBUG("HRTWorkQueue::process work exists");
now = offsetTime();
unsigned int index;
m_work_list.get(idx, index);
if (index < g_work_items->size()) {
WorkItem *item;
g_work_items->getAt(index, &item);
elapsed = now - item->m_queue_time;
//DF_LOG_DEBUG("now = %lu elapsed = %lu delay = %luusec\n", now, elapsed, item.m_delay_usec);
if (elapsed >= item->m_delay_usec) {
DF_LOG_DEBUG("HRTWorkQueue::process do work (%p) (%u)", item, item->m_delay_usec);
item->updateStats(now);
// reschedule work
item->m_queue_time = offsetTime();
item->m_in_use = true;
void *tmpptr = item->m_arg;
hrtUnlock();
item->m_callback(tmpptr);
hrtLock();
// Start again from the top to get rescheduled work
idx = nullptr;
idx = m_work_list.next(idx);
} else {
remaining = item->m_delay_usec - elapsed;
if (remaining < next) {
next = remaining;
}
// try the next in the list
idx = m_work_list.next(idx);
}
}
}
// pthread_cond_timedwait uses absolute time
ts = offsetTimeToAbsoluteTime(now + next);
#ifdef __PX4_QURT
uint64_t now_later = offsetTime();
int64_t diff = (int64_t)(now + next) - (int64_t)now_later;
// TODO FIXME: sometimes timeouts < 100 us seem to hang, therefore this workaround
if (diff > 100) {
#endif
DF_LOG_DEBUG("HRTWorkQueue::process waiting for work (%" PRIi64 ")", diff);
// Wait until next expiry or until a new item is rescheduled
pthread_cond_timedwait(&g_reschedule_cond, &g_hrt_lock, &ts);
#ifdef __PX4_QURT
}
#endif
hrtUnlock();
}
}
void HRTWorkQueue::process(void)
{
DF_LOG_DEBUG("HRTWorkQueue::process");
uint64_t next;
uint64_t elapsed;
timespec ts;
uint64_t now;
while (!m_exit_requested) {
DF_LOG_DEBUG("HRTWorkQueue::process In while");
hrtLock();
DFUIntList::Index idx = nullptr;
idx = m_work_list.next(idx);
now = offsetTime();
// Wake up every 10 sec if nothing scheduled
next = now + 10000000;
while ((!m_exit_requested) && (idx != nullptr)) {
DF_LOG_DEBUG("HRTWorkQueue::process work exists");
unsigned int index;
m_work_list.get(idx, index);
if (index < g_work_items->size()) {
WorkItem *item = nullptr;
g_work_items->getAt(index, &item);
now = offsetTime();
elapsed = now - item->m_queue_time;
//DF_LOG_DEBUG("now = %lu elapsed = %lu delay = %luusec\n", now, elapsed, item.m_delay_usec);
if (elapsed >= item->m_delay_usec) {
DF_LOG_DEBUG("HRTWorkQueue::process do work (%p) (%u)", item, item->m_delay_usec);
item->updateStats(now);
// reschedule work
item->m_queue_time += item->m_delay_usec;
item->m_in_use = true;
void *tmpptr = item->m_arg;
hrtUnlock();
item->m_callback(tmpptr);
hrtLock();
}
// Get next scheduling time
uint64_t cur_next = item->m_queue_time + item->m_delay_usec;
if (cur_next < next) {
next = cur_next;
}
idx = m_work_list.next(idx);
}
}
if (next > offsetTime()) {
// pthread_cond_timedwait uses absolute time
ts = offsetTimeToAbsoluteTime(next);
DF_LOG_DEBUG("HRTWorkQueue::process waiting for work (%" PRIi64 ")", next - offsetTime());
// Wait until next expiry or until a new item is rescheduled
pthread_cond_timedwait(&g_reschedule_cond, &g_hrt_lock, &ts);
}
hrtUnlock();
}
}