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AP_HAL_SITL: Scheduler remove unreachable code & minor fix

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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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12
libraries/AP_HAL_SITL/Scheduler.cpp
View File

@ -5,7 +5,6 @@
#include "Scheduler.h" #include "Scheduler.h"
#include "UARTDriver.h" #include "UARTDriver.h"
#include <sys/time.h> #include <sys/time.h>
#include <unistd.h>
#include <fenv.h> #include <fenv.h>
using namespace HALSITL; using namespace HALSITL;
@ -43,11 +42,7 @@ void Scheduler::delay_microseconds(uint16_t usec)
if (dtime >= usec) { if (dtime >= usec) {
break; break;
} }
if (_stopped_clock_usec) {
_sitlState->wait_clock(start + usec); _sitlState->wait_clock(start + usec);
} else {
usleep(usec - dtime);
}
} while (true); } while (true);
} }
@ -83,7 +78,6 @@ void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
_timer_proc[_num_timer_procs] = proc; _timer_proc[_num_timer_procs] = proc;
_num_timer_procs++; _num_timer_procs++;
} }
} }
void Scheduler::register_io_process(AP_HAL::MemberProc proc) 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; _io_proc[_num_io_procs] = proc;
_num_io_procs++; _num_io_procs++;
} }
} }
void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us) void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
@ -141,11 +134,12 @@ void Scheduler::system_initialized() {
} }
void Scheduler::sitl_end_atomic() { void Scheduler::sitl_end_atomic() {
if (_nested_atomic_ctr == 0) if (_nested_atomic_ctr == 0) {
hal.uartA->println("NESTED ATOMIC ERROR"); hal.uartA->println("NESTED ATOMIC ERROR");
else } else {
_nested_atomic_ctr--; _nested_atomic_ctr--;
} }
}
void Scheduler::reboot(bool hold_in_bootloader) void Scheduler::reboot(bool hold_in_bootloader)
{ {

6
libraries/AP_HAL_SITL/Scheduler.h
View File

@ -10,7 +10,7 @@
/* Scheduler implementation: */ /* Scheduler implementation: */
class HALSITL::Scheduler : public AP_HAL::Scheduler { class HALSITL::Scheduler : public AP_HAL::Scheduler {
public: public:
Scheduler(SITL_State *sitlState); explicit Scheduler(SITL_State *sitlState);
static Scheduler *from(AP_HAL::Scheduler *scheduler) { static Scheduler *from(AP_HAL::Scheduler *scheduler) {
return static_cast<HALSITL::Scheduler*>(scheduler); return static_cast<HALSITL::Scheduler*>(scheduler);
} }
@ -76,7 +76,3 @@ private:
uint64_t _stopped_clock_usec; uint64_t _stopped_clock_usec;
}; };
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD