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AP_HAL_SITL: Scheduler remove unreachable code & minor fix 

usleep wasn't reached since synthetic clock is always used
correct style
make constructor explicit
use c++ cast
This commit is contained in:
Pierre Kancir 2017-01-09 13:33:52 +01:00 committed by Francisco Ferreira
parent 63b3618fc7
commit ab9e88299f
2 changed files with 23 additions and 33 deletions
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14
libraries/AP_HAL_SITL/Scheduler.cpp
View File

@ -5,7 +5,6 @@
#include "Scheduler.h"
#include "UARTDriver.h"
#include <sys/time.h>
#include <unistd.h>
#include <fenv.h>
using namespace HALSITL;
@ -43,11 +42,7 @@ void Scheduler::delay_microseconds(uint16_t usec)
if (dtime >= usec) {
break;
}
if (_stopped_clock_usec) {
_sitlState->wait_clock(start + usec);
} else {
usleep(usec - dtime);
}
_sitlState->wait_clock(start + usec);
} while (true);
}
@ -83,7 +78,6 @@ void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
_timer_proc[_num_timer_procs] = proc;
_num_timer_procs++;
}
}
void Scheduler::register_io_process(AP_HAL::MemberProc proc)
@ -98,7 +92,6 @@ void Scheduler::register_io_process(AP_HAL::MemberProc proc)
_io_proc[_num_io_procs] = proc;
_num_io_procs++;
}
}
void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
@ -141,10 +134,11 @@ void Scheduler::system_initialized() {
}
void Scheduler::sitl_end_atomic() {
if (_nested_atomic_ctr == 0)
if (_nested_atomic_ctr == 0) {
hal.uartA->println("NESTED ATOMIC ERROR");
else
} else {
_nested_atomic_ctr--;
}
}
void Scheduler::reboot(bool hold_in_bootloader)

42
libraries/AP_HAL_SITL/Scheduler.h
View File

@ -10,39 +10,39 @@
/* Scheduler implementation: */
class HALSITL::Scheduler : public AP_HAL::Scheduler {
public:
Scheduler(SITL_State *sitlState);
explicit Scheduler(SITL_State *sitlState);
static Scheduler *from(AP_HAL::Scheduler *scheduler) {
return static_cast<HALSITL::Scheduler*>(scheduler);
}
/* AP_HAL::Scheduler methods */
void init();
void delay(uint16_t ms);
void delay_microseconds(uint16_t us);
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
void init();
void delay(uint16_t ms);
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_io_process(AP_HAL::MemberProc);
void suspend_timer_procs();
void resume_timer_procs();
void register_timer_process(AP_HAL::MemberProc);
void register_io_process(AP_HAL::MemberProc);
void suspend_timer_procs();
void resume_timer_procs();
bool in_timerprocess();
bool in_timerprocess();
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
void system_initialized();
void system_initialized();
void reboot(bool hold_in_bootloader);
void reboot(bool hold_in_bootloader);
bool interrupts_are_blocked(void) {
bool interrupts_are_blocked(void) {
return _nested_atomic_ctr != 0;
}
void sitl_begin_atomic() {
void sitl_begin_atomic() {
_nested_atomic_ctr++;
}
void sitl_end_atomic();
void sitl_end_atomic();
static void timer_event() {
_run_timer_procs(true);
@ -67,16 +67,12 @@ private:
static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
static uint8_t _num_timer_procs;
static uint8_t _num_io_procs;
static bool _in_timer_proc;
static bool _in_io_proc;
static bool _in_timer_proc;
static bool _in_io_proc;
void stop_clock(uint64_t time_usec);
bool _initialized;
uint64_t _stopped_clock_usec;
};
#endif // CONFIG_HAL_BOARD
#endif // CONFIG_HAL_BOARD