ardupilot/libraries/AP_HAL/Scheduler.h

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2.0 KiB
C
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#pragma once
#include <stdint.h>
#include <AP_Common/AP_Common.h>
#include "AP_HAL_Boards.h"
#include "AP_HAL_Namespace.h"
class AP_HAL::Scheduler {
public:
Scheduler() {}
virtual void init() = 0;
virtual void delay(uint16_t ms) = 0;
/*
delay for the given number of microseconds. This needs to be as
accurate as possible - preferably within 100 microseconds.
*/
virtual void delay_microseconds(uint16_t us) = 0;
/*
delay for the given number of microseconds. On supported
platforms this boosts the priority of the main thread for a
short time when the time completes. The aim is to ensure the
main thread runs at a higher priority than drivers for the start
of each loop
*/
virtual void delay_microseconds_boost(uint16_t us) { delay_microseconds(us); }
virtual void register_delay_callback(AP_HAL::Proc,
uint16_t min_time_ms) = 0;
// register a high priority timer task
virtual void register_timer_process(AP_HAL::MemberProc) = 0;
virtual bool register_timer_process(AP_HAL::MemberProc proc, uint8_t freq_div)
{
register_timer_process(proc);
return false;
}
// register a low priority IO task
virtual void register_io_process(AP_HAL::MemberProc) = 0;
// suspend and resume both timer and IO processes
virtual void suspend_timer_procs() = 0;
virtual void resume_timer_procs() = 0;
virtual bool in_timerprocess() = 0;
virtual void register_timer_failsafe(AP_HAL::Proc,
uint32_t period_us) = 0;
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virtual void system_initialized() = 0;
virtual void reboot(bool hold_in_bootloader) = 0;
/**
optional function to stop clock at a given time, used by log replay
*/
virtual void stop_clock(uint64_t time_usec) {}
virtual bool in_main_thread() const = 0;
virtual void create_uavcan_thread() {};
};