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AP_Scheduler: support member functions for rover

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This commit is contained in:
Andrew Tridgell 2015-05-12 16:59:38 +10:00
parent 12cbf7888f
commit 1237772479
3 changed files with 27 additions and 5 deletions
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10
libraries/AP_Scheduler/AP_Scheduler.cpp
View File

@ -39,13 +39,14 @@ const AP_Param::GroupInfo AP_Scheduler::var_info[] PROGMEM = {
};
// initialise the scheduler
void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks)
void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, void *classptr)
{
_tasks = tasks;
_num_tasks = num_tasks;
_last_run = new uint16_t[_num_tasks];
memset(_last_run, 0, sizeof(_last_run[0]) * _num_tasks);
_tick_counter = 0;
_classptr = classptr;
}
// one tick has passed
@ -84,9 +85,14 @@ void AP_Scheduler::run(uint16_t time_available)
if (_task_time_allowed <= time_available) {
// run it
_task_time_started = now;
task_fn_t func = (task_fn_t)pgm_read_pointer(&_tasks[i].function);
task_fn_t func;
pgm_read_block(&_tasks[i].function, &func, sizeof(func));
current_task = i;
#if AP_SCHEDULER_USE_DELEGATE_PTR
func(_classptr);
#else
func();
#endif
current_task = -1;
// record the tick counter when we ran. This drives

20
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -35,10 +35,23 @@
the scheduler is allowed to use before it must return
*/
#include <AP_HAL.h>
#include <AP_Vehicle.h>
#if APM_BUILD_TYPE(APM_BUILD_APMrover2) && defined(__AVR__)
#define AP_SCHEDULER_USE_DELEGATE_PTR 1
#else
#define AP_SCHEDULER_USE_DELEGATE_PTR 0
#endif
class AP_Scheduler
{
public:
typedef void (*task_fn_t)(void);
#if APM_BUILD_TYPE(APM_BUILD_APMrover2)
DELEGATE_FUNCTION_VOID_TYPEDEF(task_fn_t);
#else
typedef void (*task_fn_t)(void);
#endif
struct Task {
task_fn_t function;
@ -47,7 +60,7 @@ public:
};
// initialise scheduler
void init(const Task *tasks, uint8_t num_tasks);
void init(const Task *tasks, uint8_t num_tasks, void *classptr);
// call when one tick has passed
void tick(void);
@ -101,6 +114,9 @@ private:
// number of ticks that _spare_micros is counted over
uint8_t _spare_ticks;
// class pointer for use on AVR
void *_classptr;
};
#endif // AP_SCHEDULER_H

2
libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.pde
View File

@ -70,7 +70,7 @@ void setup(void)
AP_InertialSensor::RATE_50HZ);
// initialise the scheduler
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]), NULL);
}
void loop(void)