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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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14
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)
@ -141,10 +134,11 @@ 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)

42
libraries/AP_HAL_SITL/Scheduler.h
View File

@ -10,39 +10,39 @@
/* 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);
} }
/* AP_HAL::Scheduler methods */ /* AP_HAL::Scheduler methods */
void init(); void init();
void delay(uint16_t ms); void delay(uint16_t ms);
void delay_microseconds(uint16_t us); void delay_microseconds(uint16_t us);
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms); void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
void register_timer_process(AP_HAL::MemberProc); void register_timer_process(AP_HAL::MemberProc);
void register_io_process(AP_HAL::MemberProc); void register_io_process(AP_HAL::MemberProc);
void suspend_timer_procs(); void suspend_timer_procs();
void resume_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; return _nested_atomic_ctr != 0;
} }
void sitl_begin_atomic() { void sitl_begin_atomic() {
_nested_atomic_ctr++; _nested_atomic_ctr++;
} }
void sitl_end_atomic(); void sitl_end_atomic();
static void timer_event() { static void timer_event() {
_run_timer_procs(true); _run_timer_procs(true);
@ -67,16 +67,12 @@ private:
static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS]; static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
static uint8_t _num_timer_procs; static uint8_t _num_timer_procs;
static uint8_t _num_io_procs; static uint8_t _num_io_procs;
static bool _in_timer_proc; static bool _in_timer_proc;
static bool _in_io_proc; static bool _in_io_proc;
void stop_clock(uint64_t time_usec); void stop_clock(uint64_t time_usec);
bool _initialized; bool _initialized;
uint64_t _stopped_clock_usec; uint64_t _stopped_clock_usec;
}; };
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD