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AP_HAL_SITL: move delay callback handling to base HAL Scheduler class

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This commit is contained in:
Peter Barker 2018-05-08 15:56:15 +10:00 committed by Andrew Tridgell
parent 31621ee21e
commit 190bd18769
2 changed files with 1 additions and 13 deletions
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11
libraries/AP_HAL_SITL/Scheduler.cpp
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@ -52,20 +52,11 @@ void Scheduler::delay(uint16_t ms)
delay_microseconds(1000); delay_microseconds(1000);
ms--; ms--;
if (_min_delay_cb_ms <= ms) { if (_min_delay_cb_ms <= ms) {
if (_delay_cb) { call_delay_cb();
_delay_cb();
}
} }
} }
} }
void Scheduler::register_delay_callback(AP_HAL::Proc proc,
uint16_t min_time_ms)
{
_delay_cb = proc;
_min_delay_cb_ms = min_time_ms;
}
void Scheduler::register_timer_process(AP_HAL::MemberProc proc) void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
{ {
for (uint8_t i = 0; i < _num_timer_procs; i++) { for (uint8_t i = 0; i < _num_timer_procs; i++) {

3
libraries/AP_HAL_SITL/Scheduler.h
View File

@ -20,7 +20,6 @@ public:
void init(); void init();
void delay(uint16_t ms); void delay(uint16_t ms);
void delay_microseconds(uint16_t us); void delay_microseconds(uint16_t us);
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
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);
@ -55,8 +54,6 @@ public:
private: private:
SITL_State *_sitlState; SITL_State *_sitlState;
uint8_t _nested_atomic_ctr; uint8_t _nested_atomic_ctr;
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
static AP_HAL::Proc _failsafe; static AP_HAL::Proc _failsafe;
static void _run_timer_procs(bool called_from_isr); static void _run_timer_procs(bool called_from_isr);