Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: allow specification of Scheduler table priorities

This commit is contained in:
Peter Barker 2021-11-14 14:49:45 +11:00 committed by Andrew Tridgell
parent 080149d174
commit bc4abea7d5
1 changed files with 68 additions and 46 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

114
Rover/Rover.cpp
View File

@ -39,79 +39,101 @@
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros) #define SCHED_TASK(func, _interval_ticks, _max_time_micros, _priority) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros, _priority)
/* /*
scheduler table - all regular tasks should be listed here.
All entries in this table must be ordered by priority.
This table is interleaved with the table in AP_Vehicle to determine
the order in which tasks are run. Convenience methods SCHED_TASK
and SCHED_TASK_CLASS are provided to build entries in this structure:
SCHED_TASK arguments:
- name of static function to call
- rate (in Hertz) at which the function should be called
- expected time (in MicroSeconds) that the function should take to run
- priority (0 through 255, lower number meaning higher priority)
SCHED_TASK_CLASS arguments:
- class name of method to be called
- instance on which to call the method
- method to call on that instance
- rate (in Hertz) at which the method should be called
- expected time (in MicroSeconds) that the method should take to run
- priority (0 through 255, lower number meaning higher priority)
scheduler table - all regular tasks are listed here, along with how scheduler table - all regular tasks are listed here, along with how
often they should be called (in Hz) and the maximum time often they should be called (in Hz) and the maximum time
they are expected to take (in microseconds) they are expected to take (in microseconds)
*/ */
const AP_Scheduler::Task Rover::scheduler_tasks[] = { const AP_Scheduler::Task Rover::scheduler_tasks[] = {
// Function name, Hz, us, // Function name, Hz, us,
SCHED_TASK(read_radio, 50, 200), SCHED_TASK(read_radio, 50, 200, 3),
SCHED_TASK(ahrs_update, 400, 400), SCHED_TASK(ahrs_update, 400, 400, 6),
SCHED_TASK(read_rangefinders, 50, 200), SCHED_TASK(read_rangefinders, 50, 200, 9),
SCHED_TASK(update_current_mode, 400, 200), SCHED_TASK(update_current_mode, 400, 200, 12),
SCHED_TASK(set_servos, 400, 200), SCHED_TASK(set_servos, 400, 200, 15),
SCHED_TASK_CLASS(AP_GPS, &rover.gps, update, 50, 300), SCHED_TASK_CLASS(AP_GPS, &rover.gps, update, 50, 300, 18),
SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200), SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200, 21),
SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200), SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200, 24),
#if HAL_PROXIMITY_ENABLED #if HAL_PROXIMITY_ENABLED
SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200), SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200, 27),
#endif #endif
SCHED_TASK_CLASS(AP_WindVane, &rover.g2.windvane, update, 20, 100), SCHED_TASK_CLASS(AP_WindVane, &rover.g2.windvane, update, 20, 100, 30),
SCHED_TASK_CLASS(AC_Fence, &rover.g2.fence, update, 10, 100), SCHED_TASK_CLASS(AC_Fence, &rover.g2.fence, update, 10, 100, 33),
SCHED_TASK(update_wheel_encoder, 50, 200), SCHED_TASK(update_wheel_encoder, 50, 200, 36),
SCHED_TASK(update_compass, 10, 200), SCHED_TASK(update_compass, 10, 200, 39),
SCHED_TASK(update_mission, 50, 200), SCHED_TASK(update_mission, 50, 200, 42),
SCHED_TASK(update_logging1, 10, 200), SCHED_TASK(update_logging1, 10, 200, 45),
SCHED_TASK(update_logging2, 10, 200), SCHED_TASK(update_logging2, 10, 200, 48),
SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_receive, 400, 500), SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_receive, 400, 500, 51),
SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_send, 400, 1000), SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_send, 400, 1000, 54),
SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_mode_switch, 7, 200), SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_mode_switch, 7, 200, 57),
SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_aux_all, 10, 200), SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_aux_all, 10, 200, 60),
SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300), SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300, 63),
SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 200), SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 200, 66),
#if GRIPPER_ENABLED == ENABLED #if GRIPPER_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Gripper, &rover.g2.gripper, update, 10, 75), SCHED_TASK_CLASS(AP_Gripper, &rover.g2.gripper, update, 10, 75, 69),
#endif #endif
SCHED_TASK(rpm_update, 10, 100), SCHED_TASK(rpm_update, 10, 100, 72),
#if HAL_MOUNT_ENABLED #if HAL_MOUNT_ENABLED
SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 200), SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 200, 75),
#endif #endif
#if CAMERA == ENABLED #if CAMERA == ENABLED
SCHED_TASK_CLASS(AP_Camera, &rover.camera, update, 50, 200), SCHED_TASK_CLASS(AP_Camera, &rover.camera, update, 50, 200, 78),
#endif #endif
SCHED_TASK(gcs_failsafe_check, 10, 200), SCHED_TASK(gcs_failsafe_check, 10, 200, 81),
SCHED_TASK(fence_check, 10, 200), SCHED_TASK(fence_check, 10, 200, 84),
SCHED_TASK(ekf_check, 10, 100), SCHED_TASK(ekf_check, 10, 100, 87),
SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200), SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200, 90),
SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300), SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300, 93),
SCHED_TASK(one_second_loop, 1, 1500), SCHED_TASK(one_second_loop, 1, 1500, 96),
#if HAL_SPRAYER_ENABLED #if HAL_SPRAYER_ENABLED
SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90), SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90, 99),
#endif #endif
SCHED_TASK_CLASS(Compass, &rover.compass, cal_update, 50, 200), SCHED_TASK_CLASS(Compass, &rover.compass, cal_update, 50, 200, 102),
SCHED_TASK(compass_save, 0.1, 200), SCHED_TASK(compass_save, 0.1, 200, 105),
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Logger, &rover.logger, periodic_tasks, 50, 300), SCHED_TASK_CLASS(AP_Logger, &rover.logger, periodic_tasks, 50, 300, 108),
#endif #endif
SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 400, 200), SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 400, 200, 111),
SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200), SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200, 114),
#if HAL_BUTTON_ENABLED #if HAL_BUTTON_ENABLED
SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200), SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200, 117),
#endif #endif
#if STATS_ENABLED == ENABLED #if STATS_ENABLED == ENABLED
SCHED_TASK(stats_update, 1, 200), SCHED_TASK(stats_update, 1, 200, 120),
#endif #endif
SCHED_TASK(crash_check, 10, 200), SCHED_TASK(crash_check, 10, 200, 123),
SCHED_TASK(cruise_learn_update, 50, 200), SCHED_TASK(cruise_learn_update, 50, 200, 126),
#if ADVANCED_FAILSAFE == ENABLED #if ADVANCED_FAILSAFE == ENABLED
SCHED_TASK(afs_fs_check, 10, 200), SCHED_TASK(afs_fs_check, 10, 200, 129),
#endif #endif
SCHED_TASK(read_airspeed, 10, 100), SCHED_TASK(read_airspeed, 10, 100, 132),
#if HAL_AIS_ENABLED #if HAL_AIS_ENABLED
SCHED_TASK_CLASS(AP_AIS, &rover.g2.ais, update, 5, 100), SCHED_TASK_CLASS(AP_AIS, &rover.g2.ais, update, 5, 100, 135),
#endif #endif
}; };