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AP_HAL_SITL: Remove timer process suspension interface

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This commit is contained in:
Michael du Breuil 2018-05-13 15:47:47 -07:00 committed by Andrew Tridgell
parent a2dfca2fee
commit 0f2482f05b
3 changed files with 16 additions and 41 deletions
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2
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
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@ -86,7 +86,7 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
while (!HALSITL::Scheduler::_should_reboot) { while (!HALSITL::Scheduler::_should_reboot) {
callbacks->loop(); callbacks->loop();
HALSITL::Scheduler::_run_io_procs(false); HALSITL::Scheduler::_run_io_procs();
} }
execv(argv[0], argv); execv(argv[0], argv);
AP_HAL::panic("PANIC: REBOOT FAILED"); AP_HAL::panic("PANIC: REBOOT FAILED");

28
libraries/AP_HAL_SITL/Scheduler.cpp
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@ -13,8 +13,6 @@ extern const AP_HAL::HAL& hal;
AP_HAL::Proc Scheduler::_failsafe = nullptr; AP_HAL::Proc Scheduler::_failsafe = nullptr;
volatile bool Scheduler::_timer_suspended = false;
volatile bool Scheduler::_timer_event_missed = false;
AP_HAL::MemberProc Scheduler::_timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr}; AP_HAL::MemberProc Scheduler::_timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
uint8_t Scheduler::_num_timer_procs = 0; uint8_t Scheduler::_num_timer_procs = 0;
@ -91,18 +89,6 @@ void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_u
_failsafe = failsafe; _failsafe = failsafe;
} }
void Scheduler::suspend_timer_procs() {
_timer_suspended = true;
}
void Scheduler::resume_timer_procs() {
_timer_suspended = false;
if (_timer_event_missed) {
_timer_event_missed = false;
_run_timer_procs(false);
}
}
void Scheduler::system_initialized() { void Scheduler::system_initialized() {
if (_initialized) { if (_initialized) {
AP_HAL::panic( AP_HAL::panic(
@ -134,7 +120,7 @@ void Scheduler::reboot(bool hold_in_bootloader)
_should_reboot = true; _should_reboot = true;
} }
void Scheduler::_run_timer_procs(bool called_from_isr) void Scheduler::_run_timer_procs()
{ {
if (_in_timer_proc) { if (_in_timer_proc) {
// the timer calls took longer than the period of the // the timer calls took longer than the period of the
@ -154,16 +140,12 @@ void Scheduler::_run_timer_procs(bool called_from_isr)
} }
_in_timer_proc = true; _in_timer_proc = true;
if (!_timer_suspended) {
// now call the timer based drivers // now call the timer based drivers
for (int i = 0; i < _num_timer_procs; i++) { for (int i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i]) { if (_timer_proc[i]) {
_timer_proc[i](); _timer_proc[i]();
} }
} }
} else if (called_from_isr) {
_timer_event_missed = true;
}
// and the failsafe, if one is setup // and the failsafe, if one is setup
if (_failsafe != nullptr) { if (_failsafe != nullptr) {
@ -173,23 +155,19 @@ void Scheduler::_run_timer_procs(bool called_from_isr)
_in_timer_proc = false; _in_timer_proc = false;
} }
void Scheduler::_run_io_procs(bool called_from_isr) void Scheduler::_run_io_procs()
{ {
if (_in_io_proc) { if (_in_io_proc) {
return; return;
} }
_in_io_proc = true; _in_io_proc = true;
if (!_timer_suspended) {
// now call the IO based drivers // now call the IO based drivers
for (int i = 0; i < _num_io_procs; i++) { for (int i = 0; i < _num_io_procs; i++) {
if (_io_proc[i]) { if (_io_proc[i]) {
_io_proc[i](); _io_proc[i]();
} }
} }
} else if (called_from_isr) {
_timer_event_missed = true;
}
_in_io_proc = false; _in_io_proc = false;
@ -209,7 +187,7 @@ void Scheduler::stop_clock(uint64_t time_usec)
_stopped_clock_usec = time_usec; _stopped_clock_usec = time_usec;
if (time_usec - _last_io_run > 10000) { if (time_usec - _last_io_run > 10000) {
_last_io_run = time_usec; _last_io_run = time_usec;
_run_io_procs(false); _run_io_procs();
} }
} }

11
libraries/AP_HAL_SITL/Scheduler.h
View File

@ -23,8 +23,6 @@ public:
void register_timer_process(AP_HAL::MemberProc); void register_timer_process(AP_HAL::MemberProc);
void register_io_process(AP_HAL::MemberProc); void register_io_process(AP_HAL::MemberProc);
void suspend_timer_procs();
void resume_timer_procs();
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us); void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
@ -43,13 +41,13 @@ public:
void sitl_end_atomic(); void sitl_end_atomic();
static void timer_event() { static void timer_event() {
_run_timer_procs(true); _run_timer_procs();
_run_io_procs(true); _run_io_procs();
} }
uint64_t stopped_clock_usec() const { return _stopped_clock_usec; } uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
static void _run_io_procs(bool called_from_isr); static void _run_io_procs();
static bool _should_reboot; static bool _should_reboot;
private: private:
@ -57,9 +55,8 @@ private:
uint8_t _nested_atomic_ctr; uint8_t _nested_atomic_ctr;
static AP_HAL::Proc _failsafe; static AP_HAL::Proc _failsafe;
static void _run_timer_procs(bool called_from_isr); static void _run_timer_procs();
static volatile bool _timer_suspended;
static volatile bool _timer_event_missed; static volatile bool _timer_event_missed;
static AP_HAL::MemberProc _timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS]; static AP_HAL::MemberProc _timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS]; static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];