ardupilot/libraries/AP_HAL_Linux/Scheduler.h

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#pragma once
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#include <pthread.h>
#include "AP_HAL_Linux.h"
#include "Semaphores.h"
#include "Thread.h"
#define LINUX_SCHEDULER_MAX_TIMER_PROCS 10
#define LINUX_SCHEDULER_MAX_TIMESLICED_PROCS 10
#define LINUX_SCHEDULER_MAX_IO_PROCS 10
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#define AP_LINUX_SENSORS_STACK_SIZE 256 * 1024
#define AP_LINUX_SENSORS_SCHED_POLICY SCHED_FIFO
#define AP_LINUX_SENSORS_SCHED_PRIO 12
namespace Linux {
class Scheduler : public AP_HAL::Scheduler {
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public:
Scheduler();
static Scheduler *from(AP_HAL::Scheduler *scheduler) {
return static_cast<Scheduler*>(scheduler);
}
void init() override;
void delay(uint16_t ms) override;
void delay_microseconds(uint16_t us) override;
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void register_timer_process(AP_HAL::MemberProc) override;
void register_io_process(AP_HAL::MemberProc) override;
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bool in_main_thread() const override;
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
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void set_system_initialized() override;
bool is_system_initialized() override { return _initialized; };
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void reboot(bool hold_in_bootloader) override;
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void stop_clock(uint64_t time_usec) override;
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uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
void microsleep(uint32_t usec);
void teardown();
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/*
create a new thread
*/
bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
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/*
set cpu affinity mask to be applied on initialization - setting it
later has no effect.
*/
void set_cpu_affinity(const cpu_set_t &cpu_affinity) { _cpu_affinity = cpu_affinity; }
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private:
class SchedulerThread : public PeriodicThread {
public:
SchedulerThread(Thread::task_t t, Scheduler &sched)
: PeriodicThread(t)
, _sched(sched)
{ }
protected:
bool _run() override;
Scheduler &_sched;
};
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void init_realtime();
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void init_cpu_affinity();
void _wait_all_threads();
void _debug_stack();
AP_HAL::Proc _failsafe;
bool _initialized;
pthread_barrier_t _initialized_barrier;
AP_HAL::MemberProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
uint8_t _num_timer_procs;
volatile bool _in_timer_proc;
AP_HAL::MemberProc _io_proc[LINUX_SCHEDULER_MAX_IO_PROCS];
uint8_t _num_io_procs;
// calculates an integer to be used as the priority for a
// newly-created thread
uint8_t calculate_thread_priority(priority_base base, int8_t priority) const;
SchedulerThread _timer_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_timer_task, void), *this};
SchedulerThread _io_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_io_task, void), *this};
SchedulerThread _rcin_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_rcin_task, void), *this};
SchedulerThread _uart_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_uart_task, void), *this};
void _timer_task();
void _io_task();
void _rcin_task();
void _uart_task();
void _run_io();
void _run_uarts();
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uint64_t _stopped_clock_usec;
uint64_t _last_stack_debug_msec;
pthread_t _main_ctx;
Semaphore _io_semaphore;
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cpu_set_t _cpu_affinity;
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};
}