PX4 work queue: extend to UARTs

platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp

@@ -66,9 +66,20 @@ static constexpr wq_config_t I2C4{"wq:I2C4", 1400, -12};
 
 static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 6600, -11}; // PX4 att/pos controllers, highest priority after sensors
 
+static constexpr wq_config_t hp_default{"wq:hp_default", 1800, -12};
+
 static constexpr wq_config_t uavcan{"uavcan", 2400, -13};
 
-static constexpr wq_config_t hp_default{"wq:hp_default", 1800, -12};
+static constexpr wq_config_t UART0{"wq:UART0", 1400, -14};
+static constexpr wq_config_t UART1{"wq:UART1", 1400, -15};
+static constexpr wq_config_t UART2{"wq:UART2", 1400, -16};
+static constexpr wq_config_t UART3{"wq:UART3", 1400, -17};
+static constexpr wq_config_t UART4{"wq:UART4", 1400, -18};
+static constexpr wq_config_t UART5{"wq:UART5", 1400, -19};
+static constexpr wq_config_t UART6{"wq:UART6", 1400, -20};
+static constexpr wq_config_t UART7{"wq:UART7", 1400, -21};
+static constexpr wq_config_t UART8{"wq:UART8", 1400, -22};
+
 static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};
 
 static constexpr wq_config_t test1{"wq:test1", 800, 0};
@@ -107,5 +118,13 @@ WorkQueue *WorkQueueFindOrCreate(const wq_config_t &new_wq);
  */
 const wq_config_t &device_bus_to_wq(uint32_t device_id);
 
+/**
+ * Map a serial device path (eg /dev/ttyS1) to a work queue.
+ *
+ * @param device_id		The device path.
+ * @return		A work queue configuration.
+ */
+const wq_config_t &serial_port_to_wq(const char *serial);
+
 
 } // namespace px4

platforms/common/px4_work_queue/WorkQueueManager.cpp

@@ -162,6 +162,45 @@ device_bus_to_wq(uint32_t device_id_int)
 	return wq_configurations::hp_default;
 };
 
+const wq_config_t &
+serial_port_to_wq(const char *serial)
+{
+	if (serial == nullptr) {
+		return wq_configurations::hp_default;
+
+	} else if (strstr(serial, "ttyS0")) {
+		return wq_configurations::UART0;
+
+	} else if (strstr(serial, "ttyS1")) {
+		return wq_configurations::UART1;
+
+	} else if (strstr(serial, "ttyS2")) {
+		return wq_configurations::UART2;
+
+	} else if (strstr(serial, "ttyS3")) {
+		return wq_configurations::UART3;
+
+	} else if (strstr(serial, "ttyS4")) {
+		return wq_configurations::UART4;
+
+	} else if (strstr(serial, "ttyS5")) {
+		return wq_configurations::UART5;
+
+	} else if (strstr(serial, "ttyS6")) {
+		return wq_configurations::UART6;
+
+	} else if (strstr(serial, "ttyS7")) {
+		return wq_configurations::UART7;
+
+	} else if (strstr(serial, "ttyS8")) {
+		return wq_configurations::UART8;
+	}
+
+	PX4_ERR("unknown serial port: %s", serial);
+
+	return wq_configurations::hp_default;
+}
+
 static void *
 WorkQueueRunner(void *context)
 {