mirror of https://github.com/ArduPilot/ardupilot
Rover: allow specification of Scheduler table priorities
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
080149d174
commit
bc4abea7d5
114
Rover/Rover.cpp
114
Rover/Rover.cpp
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@ -39,79 +39,101 @@
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros)
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros, _priority) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros, _priority)
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/*
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scheduler table - all regular tasks should be listed here.
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All entries in this table must be ordered by priority.
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This table is interleaved with the table in AP_Vehicle to determine
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the order in which tasks are run. Convenience methods SCHED_TASK
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and SCHED_TASK_CLASS are provided to build entries in this structure:
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SCHED_TASK arguments:
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- name of static function to call
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- rate (in Hertz) at which the function should be called
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- expected time (in MicroSeconds) that the function should take to run
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- priority (0 through 255, lower number meaning higher priority)
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SCHED_TASK_CLASS arguments:
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- class name of method to be called
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- instance on which to call the method
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- method to call on that instance
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- rate (in Hertz) at which the method should be called
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- expected time (in MicroSeconds) that the method should take to run
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- priority (0 through 255, lower number meaning higher priority)
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scheduler table - all regular tasks are listed here, along with how
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often they should be called (in Hz) and the maximum time
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they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task Rover::scheduler_tasks[] = {
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// Function name, Hz, us,
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SCHED_TASK(read_radio, 50, 200),
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SCHED_TASK(ahrs_update, 400, 400),
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SCHED_TASK(read_rangefinders, 50, 200),
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SCHED_TASK(update_current_mode, 400, 200),
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SCHED_TASK(set_servos, 400, 200),
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SCHED_TASK_CLASS(AP_GPS, &rover.gps, update, 50, 300),
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SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200),
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SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200),
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SCHED_TASK(read_radio, 50, 200, 3),
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SCHED_TASK(ahrs_update, 400, 400, 6),
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SCHED_TASK(read_rangefinders, 50, 200, 9),
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SCHED_TASK(update_current_mode, 400, 200, 12),
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SCHED_TASK(set_servos, 400, 200, 15),
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SCHED_TASK_CLASS(AP_GPS, &rover.gps, update, 50, 300, 18),
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SCHED_TASK_CLASS(AP_Baro, &rover.barometer, update, 10, 200, 21),
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SCHED_TASK_CLASS(AP_Beacon, &rover.g2.beacon, update, 50, 200, 24),
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#if HAL_PROXIMITY_ENABLED
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SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200),
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SCHED_TASK_CLASS(AP_Proximity, &rover.g2.proximity, update, 50, 200, 27),
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#endif
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SCHED_TASK_CLASS(AP_WindVane, &rover.g2.windvane, update, 20, 100),
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SCHED_TASK_CLASS(AC_Fence, &rover.g2.fence, update, 10, 100),
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SCHED_TASK(update_wheel_encoder, 50, 200),
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SCHED_TASK(update_compass, 10, 200),
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SCHED_TASK(update_mission, 50, 200),
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SCHED_TASK(update_logging1, 10, 200),
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SCHED_TASK(update_logging2, 10, 200),
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SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_receive, 400, 500),
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SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_send, 400, 1000),
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SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_mode_switch, 7, 200),
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SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_aux_all, 10, 200),
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SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300),
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SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 200),
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SCHED_TASK_CLASS(AP_WindVane, &rover.g2.windvane, update, 20, 100, 30),
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SCHED_TASK_CLASS(AC_Fence, &rover.g2.fence, update, 10, 100, 33),
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SCHED_TASK(update_wheel_encoder, 50, 200, 36),
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SCHED_TASK(update_compass, 10, 200, 39),
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SCHED_TASK(update_mission, 50, 200, 42),
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SCHED_TASK(update_logging1, 10, 200, 45),
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SCHED_TASK(update_logging2, 10, 200, 48),
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SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_receive, 400, 500, 51),
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SCHED_TASK_CLASS(GCS, (GCS*)&rover._gcs, update_send, 400, 1000, 54),
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SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_mode_switch, 7, 200, 57),
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SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&rover.g2.rc_channels, read_aux_all, 10, 200, 60),
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SCHED_TASK_CLASS(AP_BattMonitor, &rover.battery, read, 10, 300, 63),
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SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events, 50, 200, 66),
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#if GRIPPER_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Gripper, &rover.g2.gripper, update, 10, 75),
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SCHED_TASK_CLASS(AP_Gripper, &rover.g2.gripper, update, 10, 75, 69),
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#endif
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SCHED_TASK(rpm_update, 10, 100),
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SCHED_TASK(rpm_update, 10, 100, 72),
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#if HAL_MOUNT_ENABLED
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SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 200),
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SCHED_TASK_CLASS(AP_Mount, &rover.camera_mount, update, 50, 200, 75),
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#endif
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#if CAMERA == ENABLED
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SCHED_TASK_CLASS(AP_Camera, &rover.camera, update, 50, 200),
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SCHED_TASK_CLASS(AP_Camera, &rover.camera, update, 50, 200, 78),
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#endif
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SCHED_TASK(gcs_failsafe_check, 10, 200),
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SCHED_TASK(fence_check, 10, 200),
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SCHED_TASK(ekf_check, 10, 100),
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SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200),
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SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300),
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SCHED_TASK(one_second_loop, 1, 1500),
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SCHED_TASK(gcs_failsafe_check, 10, 200, 81),
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SCHED_TASK(fence_check, 10, 200, 84),
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SCHED_TASK(ekf_check, 10, 100, 87),
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SCHED_TASK_CLASS(ModeSmartRTL, &rover.mode_smartrtl, save_position, 3, 200, 90),
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SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300, 93),
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SCHED_TASK(one_second_loop, 1, 1500, 96),
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#if HAL_SPRAYER_ENABLED
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SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90),
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SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90, 99),
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#endif
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SCHED_TASK_CLASS(Compass, &rover.compass, cal_update, 50, 200),
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SCHED_TASK(compass_save, 0.1, 200),
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SCHED_TASK_CLASS(Compass, &rover.compass, cal_update, 50, 200, 102),
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SCHED_TASK(compass_save, 0.1, 200, 105),
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#if LOGGING_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Logger, &rover.logger, periodic_tasks, 50, 300),
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SCHED_TASK_CLASS(AP_Logger, &rover.logger, periodic_tasks, 50, 300, 108),
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#endif
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SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 400, 200),
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SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200),
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SCHED_TASK_CLASS(AP_InertialSensor, &rover.ins, periodic, 400, 200, 111),
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SCHED_TASK_CLASS(AP_Scheduler, &rover.scheduler, update_logging, 0.1, 200, 114),
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#if HAL_BUTTON_ENABLED
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SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200),
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SCHED_TASK_CLASS(AP_Button, &rover.button, update, 5, 200, 117),
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#endif
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#if STATS_ENABLED == ENABLED
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SCHED_TASK(stats_update, 1, 200),
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SCHED_TASK(stats_update, 1, 200, 120),
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#endif
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SCHED_TASK(crash_check, 10, 200),
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SCHED_TASK(cruise_learn_update, 50, 200),
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SCHED_TASK(crash_check, 10, 200, 123),
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SCHED_TASK(cruise_learn_update, 50, 200, 126),
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#if ADVANCED_FAILSAFE == ENABLED
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SCHED_TASK(afs_fs_check, 10, 200),
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SCHED_TASK(afs_fs_check, 10, 200, 129),
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#endif
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SCHED_TASK(read_airspeed, 10, 100),
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SCHED_TASK(read_airspeed, 10, 100, 132),
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#if HAL_AIS_ENABLED
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SCHED_TASK_CLASS(AP_AIS, &rover.g2.ais, update, 5, 100),
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SCHED_TASK_CLASS(AP_AIS, &rover.g2.ais, update, 5, 100, 135),
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#endif
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};
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