#ifndef __AP_HAL_SITL_SCHEDULER_H__
#define __AP_HAL_SITL_SCHEDULER_H__

#include <AP_HAL.h>
#include "AP_HAL_AVR_SITL_Namespace.h"
#include <sys/time.h>

#define SITL_SCHEDULER_MAX_TIMER_PROCS 4

/* Scheduler implementation: */
class SITLScheduler : public AP_HAL::Scheduler {
public:
    SITLScheduler();
    /* AP_HAL::Scheduler methods */

    void     init(void *unused);
    void     delay(uint32_t ms);
    uint32_t millis();
    uint32_t micros();
    void     delay_microseconds(uint16_t us);
    void     register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
    void     register_timer_process(AP_HAL::TimedProc);
    bool     defer_timer_process(AP_HAL::TimedProc);
    void     register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
    void     suspend_timer_procs();
    void     resume_timer_procs();
    void     begin_atomic();
    void     end_atomic();
    void     reboot();

private:
    uint8_t _nested_atomic_ctr;
    AP_HAL::Proc _delay_cb;
    uint16_t _min_delay_cb_ms;
    struct timeval _sketch_start_time;
    static AP_HAL::TimedProc _failsafe;

    static volatile bool _timer_suspended;
    static AP_HAL::TimedProc _timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
    static AP_HAL::TimedProc _defered_timer_proc;
    static uint8_t _num_timer_procs;
    static bool    _in_timer_proc;

};
#endif // __AP_HAL_SITL_SCHEDULER_H__