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AP_Vehicle: add common parameter and scheduling management. Add runcam.

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This commit is contained in:
Andy Piper 2019-12-18 22:35:32 +00:00 committed by Andrew Tridgell
parent debc13965a
commit 3ea05fa78b
2 changed files with 63 additions and 2 deletions
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48
libraries/AP_Vehicle/AP_Vehicle.cpp
View File

@ -1,4 +1,50 @@
#include <AP_Vehicle/AP_Vehicle.h>
#include "AP_Vehicle.h"
#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros)
/*
2nd group of parameters
*/
const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
#if HAL_RUNCAM_ENABLED
// @Group: CAM_RC_
// @Path: ../AP_Camera/AP_RunCam.cpp
AP_SUBGROUPINFO(runcam, "CAM_RC_", 1, AP_Vehicle, AP_RunCam),
#endif
AP_GROUPEND
};
// reference to the vehicle. using AP::vehicle() here does not work on clang
#if APM_BUILD_TYPE(APM_BUILD_Replay) || APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
AP_Vehicle& vehicle = *AP_Vehicle::get_singleton();
#else
extern AP_Vehicle& vehicle;
#endif
/*
common scheduler table for fast CPUs - all common vehicle tasks
should be listed here, along with how often they should be called (in hz)
and the maximum time they are expected to take (in microseconds)
*/
const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
#if HAL_RUNCAM_ENABLED
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50),
#endif
};
void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks)
{
tasks = scheduler_tasks;
num_tasks = ARRAY_SIZE(scheduler_tasks);
}
// initialize the vehicle
void AP_Vehicle::init_vehicle() {
#if HAL_RUNCAM_ENABLED
runcam.init();
#endif
}
AP_Vehicle *AP_Vehicle::_singleton = nullptr;

17
libraries/AP_Vehicle/AP_Vehicle.h
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@ -32,8 +32,10 @@
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Relay/AP_Relay.h> // APM relay
#include <AP_RSSI/AP_RSSI.h> // RSSI Library
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Camera/AP_RunCam.h>
class AP_Vehicle : public AP_HAL::HAL::Callbacks {
@ -43,6 +45,7 @@ public:
if (_singleton) {
AP_HAL::panic("Too many Vehicles");
}
AP_Param::setup_object_defaults(this, var_info);
_singleton = this;
}
@ -107,6 +110,8 @@ public:
AP_Int16 angle_max;
};
void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);
protected:
// board specific config
@ -126,7 +131,9 @@ protected:
RangeFinder rangefinder;
AP_RSSI rssi;
#if HAL_RUNCAM_ENABLED
AP_RunCam runcam;
#endif
AP_SerialManager serial_manager;
AP_Relay relay;
@ -146,6 +153,12 @@ protected:
AP_AHRS_DCM ahrs;
#endif
// initialize the vehicle
void init_vehicle();
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Scheduler::Task scheduler_tasks[];
private:
static AP_Vehicle *_singleton;
@ -158,4 +171,6 @@ namespace AP {
extern const AP_HAL::HAL& hal;
extern const AP_Param::Info vehicle_var_info[];
#include "AP_Vehicle_Type.h"