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AP_HAL: added EXPECT_DELAY() macro

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this prevents nesting errors in use of EXPECT_DELAY(), ensuring we
always close the expected delay
This commit is contained in:
Andrew Tridgell 2019-05-11 18:16:51 +10:00
parent 3772f58be9
commit b1ed77bee9
2 changed files with 27 additions and 0 deletions
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11
libraries/AP_HAL/Scheduler.cpp
View File

@ -1,4 +1,5 @@
#include "Scheduler.h" #include "Scheduler.h"
#include "AP_HAL.h"
using namespace AP_HAL; using namespace AP_HAL;
@ -22,3 +23,13 @@ void Scheduler::call_delay_cb()
_delay_cb(); _delay_cb();
_in_delay_callback = false; _in_delay_callback = false;
} }
ExpectDelay::ExpectDelay(const AP_HAL::HAL &hal, uint32_t ms) : _hal(hal)
{
_hal.scheduler->expect_delay_ms(ms);
}
ExpectDelay::~ExpectDelay()
{
_hal.scheduler->expect_delay_ms(0);
}

16
libraries/AP_HAL/Scheduler.h
View File

@ -121,3 +121,19 @@ private:
bool _in_delay_callback : 1; bool _in_delay_callback : 1;
}; };
/*
helper macro and class to make using expect_delay_ms() safer and easier
*/
class ExpectDelay {
public:
ExpectDelay(const AP_HAL::HAL &hal, uint32_t ms);
~ExpectDelay();
private:
const AP_HAL::HAL &_hal;
};
#define EXPECT_DELAY(hal, ms) DELAY_JOIN( hal, ms, __COUNTER__ )
#define DELAY_JOIN( hal, ms, counter) _DO_DELAY_JOIN( hal, ms, counter )
#define _DO_DELAY_JOIN( hal, ms, counter ) ExpectDelay _getdelay ## counter(hal, ms)