rgbled move to px4 work queue

src/drivers/lights/rgbled/rgbled.cpp

@@ -55,7 +55,7 @@
 #include <stdio.h>
 #include <ctype.h>
 
-#include <px4_workqueue.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
@@ -81,7 +81,7 @@
 #define SETTING_ENABLE   	0x02	/**< on */
 
 
-class RGBLED : public device::I2C
+class RGBLED : public device::I2C, public px4::ScheduledWorkItem
 {
 public:
 	RGBLED(int bus, int rgbled);
@@ -93,8 +93,6 @@ public:
 	int		status();
 
 private:
-	work_s			_work;
-
 	float			_brightness;
 	float			_max_brightness;
 
@@ -108,8 +106,7 @@ private:
 
 	LedController		_led_controller;
 
-	static void		led_trampoline(void *arg);
+	void			Run() override;
-	void			led();
 
 	int			send_led_enable(bool enable);
 	int			send_led_rgb();
@@ -128,12 +125,8 @@ void rgbled_usage();
 extern "C" __EXPORT int rgbled_main(int argc, char *argv[]);
 
 RGBLED::RGBLED(int bus, int rgbled) :
-	I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled
+	I2C("rgbled", RGBLED0_DEVICE_PATH, bus, rgbled, 100000),
-#ifdef __PX4_NUTTX
+	ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
-	    , 100000 /* maximum speed supported */
-#endif
-	   ),
-	_work{},
 	_brightness(1.0f),
 	_max_brightness(1.0f),
 	_r(0),
@@ -173,8 +166,9 @@ RGBLED::init()
 	update_params();
 
 	_running = true;
+
 	// kick off work queue
-	work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 0);
+	ScheduleNow();
 
 	return OK;
 }
@@ -230,19 +224,11 @@ RGBLED::status()
 	return ret;
 }
 
-void
-RGBLED::led_trampoline(void *arg)
-{
-	RGBLED *rgbl = reinterpret_cast<RGBLED *>(arg);
-
-	rgbl->led();
-}
-
 /**
  * Main loop function
  */
 void
-RGBLED::led()
+RGBLED::Run()
 {
 	if (!_should_run) {
 		if (_param_sub >= 0) {
@@ -332,10 +318,8 @@ RGBLED::led()
 		send_led_rgb();
 	}
 
-
 	/* re-queue ourselves to run again later */
-	work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this,
+	ScheduleDelayed(_led_controller.maximum_update_interval());
-		   USEC2TICK(_led_controller.maximum_update_interval()));
 }
 
 /**