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AP_Scheduler: removed delegate ptr handling

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no longer needed
This commit is contained in:
Andrew Tridgell 2015-05-26 14:33:30 +10:00
parent edc21cfa38
commit 7db9da6545
2 changed files with 2 additions and 16 deletions
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5
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -39,14 +39,13 @@ const AP_Param::GroupInfo AP_Scheduler::var_info[] PROGMEM = {
}; };
// initialise the scheduler // initialise the scheduler
void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, void *classptr) void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks)
{ {
_tasks = tasks; _tasks = tasks;
_num_tasks = num_tasks; _num_tasks = num_tasks;
_last_run = new uint16_t[_num_tasks]; _last_run = new uint16_t[_num_tasks];
memset(_last_run, 0, sizeof(_last_run[0]) * _num_tasks); memset(_last_run, 0, sizeof(_last_run[0]) * _num_tasks);
_tick_counter = 0; _tick_counter = 0;
_classptr = classptr;
} }
// one tick has passed // one tick has passed
@ -90,8 +89,6 @@ void AP_Scheduler::run(uint16_t time_available)
current_task = i; current_task = i;
#if APM_BUILD_FUNCTOR #if APM_BUILD_FUNCTOR
func(); func();
#elif AP_SCHEDULER_USE_DELEGATE_PTR
func(_classptr);
#else #else
func(); func();
#endif #endif

13
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -38,19 +38,11 @@
#include <AP_HAL.h> #include <AP_HAL.h>
#include <AP_Vehicle.h> #include <AP_Vehicle.h>
#if APM_BUILD_DELEGATES && defined(__AVR__)
#define AP_SCHEDULER_USE_DELEGATE_PTR 1
#else
#define AP_SCHEDULER_USE_DELEGATE_PTR 0
#endif
class AP_Scheduler class AP_Scheduler
{ {
public: public:
#if APM_BUILD_FUNCTOR #if APM_BUILD_FUNCTOR
FUNCTOR_TYPEDEF(task_fn_t, void); FUNCTOR_TYPEDEF(task_fn_t, void);
#elif APM_BUILD_DELEGATES
DELEGATE_FUNCTION_VOID_TYPEDEF(task_fn_t);
#else #else
typedef void (*task_fn_t)(void); typedef void (*task_fn_t)(void);
#endif #endif
@ -62,7 +54,7 @@ public:
}; };
// initialise scheduler // initialise scheduler
void init(const Task *tasks, uint8_t num_tasks, void *classptr); void init(const Task *tasks, uint8_t num_tasks);
// call when one tick has passed // call when one tick has passed
void tick(void); void tick(void);
@ -116,9 +108,6 @@ private:
// number of ticks that _spare_micros is counted over // number of ticks that _spare_micros is counted over
uint8_t _spare_ticks; uint8_t _spare_ticks;
// class pointer for use on AVR
void *_classptr;
}; };
#endif // AP_SCHEDULER_H #endif // AP_SCHEDULER_H