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AP_Vehicle: cope with AP_Scheduler not being available

This commit is contained in:
Peter Barker 2024-03-07 22:27:21 +11:00 committed by Peter Barker
parent 9d470d4446
commit fe9bcb9b5b
2 changed files with 20 additions and 1 deletions
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13
libraries/AP_Vehicle/AP_Vehicle.cpp
View File

@ -367,9 +367,11 @@ void AP_Vehicle::setup()
networking.init(); networking.init();
#endif #endif
#if AP_SCHEDULER_ENABLED
// Register scheduler_delay_cb, which will run anytime you have // Register scheduler_delay_cb, which will run anytime you have
// more than 5ms remaining in your call to hal.scheduler->delay // more than 5ms remaining in your call to hal.scheduler->delay
hal.scheduler->register_delay_callback(scheduler_delay_callback, 5); hal.scheduler->register_delay_callback(scheduler_delay_callback, 5);
#endif
#if HAL_MSP_ENABLED #if HAL_MSP_ENABLED
// call MSP init before init_ardupilot to allow for MSP sensors // call MSP init before init_ardupilot to allow for MSP sensors
@ -431,7 +433,11 @@ void AP_Vehicle::setup()
// gyro FFT needs to be initialized really late // gyro FFT needs to be initialized really late
#if HAL_GYROFFT_ENABLED #if HAL_GYROFFT_ENABLED
#if AP_SCHEDULER_ENABLED
gyro_fft.init(AP::scheduler().get_loop_rate_hz()); gyro_fft.init(AP::scheduler().get_loop_rate_hz());
#else
gyro_fft.init(1000);
#endif
#endif #endif
#if HAL_RUNCAM_ENABLED #if HAL_RUNCAM_ENABLED
runcam.init(); runcam.init();
@ -520,8 +526,13 @@ void AP_Vehicle::setup()
void AP_Vehicle::loop() void AP_Vehicle::loop()
{ {
#if AP_SCHEDULER_ENABLED
scheduler.loop(); scheduler.loop();
G_Dt = scheduler.get_loop_period_s(); G_Dt = scheduler.get_loop_period_s();
#else
hal.scheduler->delay(1);
G_Dt = 0.001;
#endif
if (!done_safety_init) { if (!done_safety_init) {
/* /*
@ -548,6 +559,7 @@ void AP_Vehicle::loop()
} }
} }
#if AP_SCHEDULER_ENABLED
/* /*
scheduler table - all regular tasks apart from the fast_loop() scheduler table - all regular tasks apart from the fast_loop()
should be listed here. should be listed here.
@ -708,6 +720,7 @@ void AP_Vehicle::scheduler_delay_callback()
logger.EnableWrites(true); logger.EnableWrites(true);
#endif #endif
} }
#endif // AP_SCHEDULER_ENABLED
// if there's been a watchdog reset, notify the world via a statustext: // if there's been a watchdog reset, notify the world via a statustext:
void AP_Vehicle::send_watchdog_reset_statustext() void AP_Vehicle::send_watchdog_reset_statustext()

8
libraries/AP_Vehicle/AP_Vehicle.h
View File

@ -127,10 +127,10 @@ public:
// parameters for example. // parameters for example.
void notify_no_such_mode(uint8_t mode_number); void notify_no_such_mode(uint8_t mode_number);
#if AP_SCHEDULER_ENABLED
void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks); void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);
// implementations *MUST* fill in all passed-in fields or we get // implementations *MUST* fill in all passed-in fields or we get
// Valgrind errors // Valgrind errors
#if AP_SCHEDULER_ENABLED
virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0; virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;
#endif #endif
@ -310,8 +310,10 @@ protected:
AP_CANManager can_mgr; AP_CANManager can_mgr;
#endif #endif
#if AP_SCHEDULER_ENABLED
// main loop scheduler // main loop scheduler
AP_Scheduler scheduler; AP_Scheduler scheduler;
#endif
// IMU variables // IMU variables
// Integration time; time last loop took to run // Integration time; time last loop took to run
@ -461,7 +463,9 @@ protected:
#endif #endif
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
#if AP_SCHEDULER_ENABLED
static const struct AP_Scheduler::Task scheduler_tasks[]; static const struct AP_Scheduler::Task scheduler_tasks[];
#endif
#if OSD_ENABLED #if OSD_ENABLED
void publish_osd_info(); void publish_osd_info();
@ -495,8 +499,10 @@ protected:
private: private:
#if AP_SCHEDULER_ENABLED
// delay() callback that processing MAVLink packets // delay() callback that processing MAVLink packets
static void scheduler_delay_callback(); static void scheduler_delay_callback();
#endif
// if there's been a watchdog reset, notify the world via a // if there's been a watchdog reset, notify the world via a
// statustext: // statustext: