blinkm move to px4 work queue

src/drivers/lights/blinkm/blinkm.cpp

@@ -108,7 +108,7 @@
 #include <ctype.h>
 #include <poll.h>
 
-#include <px4_workqueue.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
@@ -131,7 +131,7 @@ static const int LED_OFFTIME = 120;
 static const int LED_BLINK = 1;
 static const int LED_NOBLINK = 0;
 
-class BlinkM : public device::I2C
+class BlinkM : public device::I2C, public px4::ScheduledWorkItem
 {
 public:
 	BlinkM(int bus, int blinkm);
@@ -181,8 +181,6 @@ private:
 		LED_AMBER
 	};
 
-	work_s			_work;
-
 	int led_color_1;
 	int led_color_2;
 	int led_color_3;
@@ -216,8 +214,8 @@ private:
 	int num_of_used_sats;
 
 	void 			setLEDColor(int ledcolor);
-	static void		led_trampoline(void *arg);
-	void			led();
+
+	void			Run() override;
 
 	int			set_rgb(uint8_t r, uint8_t g, uint8_t b);
 
@@ -276,11 +274,8 @@ const char *const BlinkM::script_names[] = {
 extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
 
 BlinkM::BlinkM(int bus, int blinkm) :
-	I2C("blinkm", BLINKM0_DEVICE_PATH, bus, blinkm
-#ifdef __PX4_NUTTX
-	    , 100000
-#endif
-	   ),
+	I2C("blinkm", BLINKM0_DEVICE_PATH, bus, blinkm, 100000),
+	ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
 	led_color_1(LED_OFF),
 	led_color_2(LED_OFF),
 	led_color_3(LED_OFF),
@@ -308,14 +303,12 @@ BlinkM::BlinkM(int bus, int blinkm) :
 	led_thread_ready(true),
 	num_of_used_sats(0)
 {
-	memset(&_work, 0, sizeof(_work));
 }
 
 int
 BlinkM::init()
 {
-	int ret;
-	ret = I2C::init();
+	int ret = I2C::init();
 
 	if (ret != OK) {
 		warnx("I2C init failed");
@@ -336,7 +329,7 @@ BlinkM::setMode(int mode)
 			stop_script();
 			set_rgb(0, 0, 0);
 			systemstate_run = true;
-			work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1);
+			ScheduleNow();
 		}
 
 	} else {
@@ -415,17 +408,7 @@ BlinkM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 
 
 void
-BlinkM::led_trampoline(void *arg)
-{
-	BlinkM *bm = (BlinkM *)arg;
-
-	bm->led();
-}
-
-
-
-void
-BlinkM::led()
+BlinkM::Run()
 {
 
 	if (!topic_initialized) {
@@ -790,7 +773,7 @@ BlinkM::led()
 
 	if (systemstate_run == true) {
 		/* re-queue ourselves to run again later */
-		work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval);
+		ScheduleDelayed(led_interval);
 
 	} else {
 		stop_script();