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AP_Scheduler: continue in place of nested if (NFC)

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Peter Barker 2018-02-13 17:39:19 +11:00 committed by Andrew Tridgell
parent 5aa8890e5b
commit 224ea50260
1 changed files with 44 additions and 42 deletions
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86
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -120,54 +120,56 @@ void AP_Scheduler::run(uint32_t time_available)
if (interval_ticks < 1) {
interval_ticks = 1;
}
if (dt >= interval_ticks) {
// this task is due to run. Do we have enough time to run it?
_task_time_allowed = _tasks[i].max_time_micros;
if (dt < interval_ticks) {
// this task is not yet scheduled to run again
continue;
}
// this task is due to run. Do we have enough time to run it?
_task_time_allowed = _tasks[i].max_time_micros;
if (dt >= interval_ticks*2) {
// we've slipped a whole run of this task!
debug(2, "Scheduler slip task[%u-%s] (%u/%u/%u)\n",
if (dt >= interval_ticks*2) {
// we've slipped a whole run of this task!
debug(2, "Scheduler slip task[%u-%s] (%u/%u/%u)\n",
(unsigned)i,
_tasks[i].name,
(unsigned)dt,
(unsigned)interval_ticks,
(unsigned)_task_time_allowed);
}
if (_task_time_allowed <= time_available) {
// run it
_task_time_started = now;
current_task = i;
if (_debug > 1 && _perf_counters && _perf_counters[i]) {
hal.util->perf_begin(_perf_counters[i]);
}
_tasks[i].function();
if (_debug > 1 && _perf_counters && _perf_counters[i]) {
hal.util->perf_end(_perf_counters[i]);
}
current_task = -1;
// record the tick counter when we ran. This drives
// when we next run the event
_last_run[i] = _tick_counter;
// work out how long the event actually took
now = AP_HAL::micros();
uint32_t time_taken = now - _task_time_started;
if (time_taken > _task_time_allowed) {
// the event overran!
debug(3, "Scheduler overrun task[%u-%s] (%u/%u)\n",
(unsigned)i,
_tasks[i].name,
(unsigned)dt,
(unsigned)interval_ticks,
(unsigned)time_taken,
(unsigned)_task_time_allowed);
}
if (_task_time_allowed <= time_available) {
// run it
_task_time_started = now;
current_task = i;
if (_debug > 1 && _perf_counters && _perf_counters[i]) {
hal.util->perf_begin(_perf_counters[i]);
}
_tasks[i].function();
if (_debug > 1 && _perf_counters && _perf_counters[i]) {
hal.util->perf_end(_perf_counters[i]);
}
current_task = -1;
// record the tick counter when we ran. This drives
// when we next run the event
_last_run[i] = _tick_counter;
// work out how long the event actually took
now = AP_HAL::micros();
uint32_t time_taken = now - _task_time_started;
if (time_taken > _task_time_allowed) {
// the event overran!
debug(3, "Scheduler overrun task[%u-%s] (%u/%u)\n",
(unsigned)i,
_tasks[i].name,
(unsigned)time_taken,
(unsigned)_task_time_allowed);
}
if (time_taken >= time_available) {
goto update_spare_ticks;
}
time_available -= time_taken;
if (time_taken >= time_available) {
goto update_spare_ticks;
}
time_available -= time_taken;
}
}