#ifndef __AP_HAL_SCHEDULER_H__ #define __AP_HAL_SCHEDULER_H__ #include #include #include "AP_HAL_Boards.h" #include "AP_HAL_Namespace.h" class AP_HAL::Scheduler { public: Scheduler() {} virtual void init(void* implspecific) = 0; virtual void delay(uint16_t ms) = 0; virtual uint32_t millis() = 0; virtual uint32_t micros() = 0; virtual uint64_t millis64() = 0; virtual uint64_t micros64() = 0; /* delay for the given number of microseconds. This needs to be as accurate as possible - preferably within 100 microseconds. */ virtual void delay_microseconds(uint16_t us) = 0; /* delay for the given number of microseconds. On supported platforms this boosts the priority of the main thread for a short time when the time completes. The aim is to ensure the main thread runs at a higher priority than drivers for the start of each loop */ virtual void delay_microseconds_boost(uint16_t us) { delay_microseconds(us); } virtual void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms) = 0; // register a high priority timer task virtual void register_timer_process(AP_HAL::MemberProc) = 0; // register a low priority IO task virtual void register_io_process(AP_HAL::MemberProc) = 0; // suspend and resume both timer and IO processes virtual void suspend_timer_procs() = 0; virtual void resume_timer_procs() = 0; virtual bool in_timerprocess() = 0; virtual void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) = 0; virtual bool system_initializing() = 0; virtual void system_initialized() = 0; virtual void panic(const prog_char_t *errormsg, ...) NORETURN = 0; virtual void reboot(bool hold_in_bootloader) = 0; /** optional function to set timer speed in Hz */ virtual void set_timer_speed(uint16_t speed_hz) {} /** optional function to stop clock at a given time, used by log replay */ virtual void stop_clock(uint64_t time_usec) {} }; #endif // __AP_HAL_SCHEDULER_H__