Work queues: Move to POSIX semaphore abstraction

src/platforms/posix/include/hrt_work.h

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include <px4_log.h>
+#include <px4_posix.h>
 #include <semaphore.h>
 #include <px4_workqueue.h>
 
@@ -39,7 +40,7 @@
 
 __BEGIN_DECLS
 
-extern sem_t _hrt_work_lock;
+extern px4_sem_t _hrt_work_lock;
 extern struct wqueue_s g_hrt_work;
 
 void hrt_work_queue_init(void);
@@ -49,15 +50,13 @@ void hrt_work_cancel(struct work_s *work);
 static inline void hrt_work_lock(void);
 static inline void hrt_work_lock()
 {
-	//PX4_INFO("hrt_work_lock");
+	px4_sem_wait(&_hrt_work_lock);
-	sem_wait(&_hrt_work_lock);
 }
 
 static inline void hrt_work_unlock(void);
 static inline void hrt_work_unlock()
 {
-	//PX4_INFO("hrt_work_unlock");
+	px4_sem_post(&_hrt_work_lock);
-	sem_post(&_hrt_work_lock);
 }
 
 __END_DECLS

src/platforms/posix/work_queue/hrt_thread.c

@@ -66,7 +66,7 @@ struct wqueue_s g_hrt_work;
 /****************************************************************************
  * Private Variables
  ****************************************************************************/
-sem_t _hrt_work_lock;
+px4_sem_t _hrt_work_lock;
 
 /****************************************************************************
  * Private Functions
@@ -241,7 +241,7 @@ static int work_hrtthread(int argc, char *argv[])
 
 void hrt_work_queue_init(void)
 {
-	sem_init(&_hrt_work_lock, 0, 1);
+	px4_sem_init(&_hrt_work_lock, 0, 1);
 
 	// Create high priority worker thread
 	g_hrt_work.pid = px4_task_spawn_cmd("wkr_hrt",

src/platforms/posix/work_queue/work_lock.c

@@ -31,21 +31,19 @@
  *
  ****************************************************************************/
 #include <px4_log.h>
-#include <semaphore.h>
+#include <px4_posix.h>
 #include <stdio.h>
 #include "work_lock.h"
 
 
-extern sem_t _work_lock[];
+extern px4_sem_t _work_lock[];
 
 void work_lock(int id)
 {
-	//PX4_INFO("work_lock %d", id);
+	px4_sem_wait(&_work_lock[id]);
-	sem_wait(&_work_lock[id]);
 }
 
 void work_unlock(int id)
 {
-	//PX4_INFO("work_unlock %d", id);
+	px4_sem_post(&_work_lock[id]);
-	sem_post(&_work_lock[id]);
 }

src/platforms/posix/work_queue/work_thread.c

@@ -68,7 +68,7 @@ struct wqueue_s g_work[NWORKERS];
 /****************************************************************************
  * Private Variables
  ****************************************************************************/
-sem_t _work_lock[NWORKERS];
+px4_sem_t _work_lock[NWORKERS];
 
 /****************************************************************************
  * Private Functions
@@ -187,10 +187,10 @@ static void work_process(struct wqueue_s *wqueue, int lock_id)
  ****************************************************************************/
 void work_queues_init(void)
 {
-	sem_init(&_work_lock[HPWORK], 0, 1);
+	px4_sem_init(&_work_lock[HPWORK], 0, 1);
-	sem_init(&_work_lock[LPWORK], 0, 1);
+	px4_sem_init(&_work_lock[LPWORK], 0, 1);
 #ifdef CONFIG_SCHED_USRWORK
-	sem_init(&_work_lock[USRWORK], 0, 1);
+	px4_sem_init(&_work_lock[USRWORK], 0, 1);
 #endif
 
 	// Create high priority worker thread