drivers: can: shell: convert from can_attach_workq() to triggered work
Convert the CAN shell from using can_attach_workq() to using
can_attach_msgq() and triggered work via k_work_poll_submit().
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
diff --git a/drivers/can/Kconfig b/drivers/can/Kconfig
index b48bcb8..dace6af 100644
--- a/drivers/can/Kconfig
+++ b/drivers/can/Kconfig
@@ -27,6 +27,7 @@
bool "Enable CAN Shell"
default y
depends on SHELL
+ select POLL
help
Enable CAN Shell for testing.
diff --git a/drivers/can/can_shell.c b/drivers/can/can_shell.c
index d910f10..8acd5e8 100644
--- a/drivers/can/can_shell.c
+++ b/drivers/can/can_shell.c
@@ -10,7 +10,14 @@
#include <zephyr/types.h>
#include <stdlib.h>
-static struct zcan_work work;
+CAN_DEFINE_MSGQ(msgq, 4);
+const struct shell *msgq_shell;
+static struct k_work_poll msgq_work;
+static struct k_poll_event msgq_events[1] = {
+ K_POLL_EVENT_STATIC_INITIALIZER(K_POLL_TYPE_MSGQ_DATA_AVAILABLE,
+ K_POLL_MODE_NOTIFY_ONLY,
+ &msgq, 0)
+};
static inline int read_config_options(const struct shell *shell, int pos,
char **argv, bool *silent, bool *loopback)
@@ -185,25 +192,39 @@
return i;
}
-static void print_frame(struct zcan_frame *frame, void *arg)
+static void print_frame(struct zcan_frame *frame, const struct shell *sh)
{
- const struct shell *shell = (const struct shell *)arg;
-
- shell_fprintf(shell, SHELL_NORMAL, "|0x%-8x|%s|%s|%d|",
+ shell_fprintf(sh, SHELL_NORMAL, "|0x%-8x|%s|%s|%d|",
frame->id,
frame->id_type == CAN_STANDARD_IDENTIFIER ? "std" : "ext",
frame->rtr ? "RTR" : " ", frame->dlc);
for (int i = 0; i < CAN_MAX_DLEN; i++) {
if (i < frame->dlc) {
- shell_fprintf(shell, SHELL_NORMAL, " 0x%02x",
+ shell_fprintf(sh, SHELL_NORMAL, " 0x%02x",
frame->data[i]);
} else {
- shell_fprintf(shell, SHELL_NORMAL, " ");
+ shell_fprintf(sh, SHELL_NORMAL, " ");
}
}
- shell_fprintf(shell, SHELL_NORMAL, "|\n");
+ shell_fprintf(sh, SHELL_NORMAL, "|\n");
+}
+
+static void msgq_triggered_work_handler(struct k_work *work)
+{
+ struct zcan_frame frame;
+ int ret;
+
+ while (k_msgq_get(&msgq, &frame, K_NO_WAIT) == 0) {
+ print_frame(&frame, msgq_shell);
+ }
+
+ ret = k_work_poll_submit(&msgq_work, msgq_events,
+ ARRAY_SIZE(msgq_events), K_FOREVER);
+ if (ret != 0) {
+ shell_error(msgq_shell, "Failed to resubmit msgq polling [%d]", ret);
+ }
}
static int cmd_config(const struct shell *shell, size_t argc, char **argv)
@@ -368,8 +389,7 @@
filter.id, ext ? "extended" : "standard", filter.id_mask,
filter.rtr_mask);
- ret = can_attach_workq(can_dev, &k_sys_work_q, &work, print_frame,
- (void *)shell, &filter);
+ ret = can_attach_msgq(can_dev, &msgq, &filter);
if (ret < 0) {
if (ret == -ENOSPC) {
shell_error(shell, "Can't attach, no free filter left");
@@ -382,6 +402,17 @@
shell_print(shell, "Filter ID: %d", ret);
+ if (msgq_shell == NULL) {
+ msgq_shell = shell;
+ k_work_poll_init(&msgq_work, msgq_triggered_work_handler);
+ }
+
+ ret = k_work_poll_submit(&msgq_work, msgq_events,
+ ARRAY_SIZE(msgq_events), K_FOREVER);
+ if (ret != 0) {
+ shell_error(shell, "Failed to submit msgq polling [%d]", ret);
+ }
+
return 0;
}
@@ -398,8 +429,6 @@
return -EINVAL;
}
-
-
id = strtol(argv[2], &end_ptr, 0);
if (*end_ptr != '\0') {
shell_error(shell, "filter_id is not a number");
