#ifndef __AP_HAL_LINUX_SCHEDULER_H__ #define __AP_HAL_LINUX_SCHEDULER_H__ #include "AP_HAL_Linux.h" #include "Semaphores.h" #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #include #include #define LINUX_SCHEDULER_MAX_TIMER_PROCS 10 #define LINUX_SCHEDULER_MAX_IO_PROCS 10 class Linux::Scheduler : public AP_HAL::Scheduler { typedef void *(*pthread_startroutine_t)(void *); public: Scheduler(); void init(void* machtnichts); void delay(uint16_t ms); uint32_t millis(); uint32_t micros(); uint64_t millis64(); uint64_t micros64(); void delay_microseconds(uint16_t us); void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms); void register_timer_process(AP_HAL::MemberProc); void register_io_process(AP_HAL::MemberProc); void suspend_timer_procs(); void resume_timer_procs(); bool in_timerprocess(); void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us); void begin_atomic(); void end_atomic(); bool system_initializing(); void system_initialized(); void panic(const char *errormsg, ...) FORMAT(2, 3) NORETURN; void reboot(bool hold_in_bootloader); void stop_clock(uint64_t time_usec); private: struct timespec _sketch_start_time; void _timer_handler(int signum); void _microsleep(uint32_t usec); AP_HAL::Proc _delay_cb; uint16_t _min_delay_cb_ms; AP_HAL::Proc _failsafe; bool _initialized; volatile bool _timer_pending; AP_HAL::MemberProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS]; uint8_t _num_timer_procs; volatile bool _in_timer_proc; AP_HAL::MemberProc _io_proc[LINUX_SCHEDULER_MAX_IO_PROCS]; uint8_t _num_io_procs; volatile bool _in_io_proc; volatile bool _timer_event_missed; pthread_t _timer_thread_ctx; pthread_t _io_thread_ctx; pthread_t _rcin_thread_ctx; pthread_t _uart_thread_ctx; pthread_t _tonealarm_thread_ctx; static void *_timer_thread(void* arg); static void *_io_thread(void* arg); static void *_rcin_thread(void* arg); static void *_uart_thread(void* arg); static void *_tonealarm_thread(void* arg); void _run_timers(bool called_from_timer_thread); void _run_io(void); void _create_realtime_thread(pthread_t *ctx, int rtprio, const char *name, pthread_startroutine_t start_routine); uint64_t stopped_clock_usec; Semaphore _timer_semaphore; Semaphore _io_semaphore; }; #endif // CONFIG_HAL_BOARD #endif // __AP_HAL_LINUX_SCHEDULER_H__