mirror of https://github.com/ArduPilot/ardupilot
123 lines
3.2 KiB
C++
123 lines
3.2 KiB
C++
#pragma once
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#include <pthread.h>
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#include "AP_HAL_Linux.h"
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#include "Semaphores.h"
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#include "Thread.h"
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#define LINUX_SCHEDULER_MAX_TIMER_PROCS 10
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#define LINUX_SCHEDULER_MAX_TIMESLICED_PROCS 10
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#define LINUX_SCHEDULER_MAX_IO_PROCS 10
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#define AP_LINUX_SENSORS_STACK_SIZE 256 * 1024
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#define AP_LINUX_SENSORS_SCHED_POLICY SCHED_FIFO
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#define AP_LINUX_SENSORS_SCHED_PRIO 12
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namespace Linux {
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class Scheduler : public AP_HAL::Scheduler {
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public:
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Scheduler();
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static Scheduler *from(AP_HAL::Scheduler *scheduler) {
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return static_cast<Scheduler*>(scheduler);
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}
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void init() override;
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void delay(uint16_t ms) override;
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void delay_microseconds(uint16_t us) override;
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void register_timer_process(AP_HAL::MemberProc) override;
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void register_io_process(AP_HAL::MemberProc) override;
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bool in_main_thread() const override;
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
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void set_system_initialized() override;
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bool is_system_initialized() override { return _initialized; };
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void reboot(bool hold_in_bootloader) override;
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void stop_clock(uint64_t time_usec) override;
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uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
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void microsleep(uint32_t usec);
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void teardown();
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/*
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create a new thread
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*/
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bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
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/*
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set cpu affinity mask to be applied on initialization - setting it
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later has no effect.
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*/
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void set_cpu_affinity(const cpu_set_t &cpu_affinity) { _cpu_affinity = cpu_affinity; }
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private:
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class SchedulerThread : public PeriodicThread {
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public:
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SchedulerThread(Thread::task_t t, Scheduler &sched)
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: PeriodicThread(t)
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, _sched(sched)
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{ }
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protected:
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bool _run() override;
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Scheduler &_sched;
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};
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void init_realtime();
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void init_cpu_affinity();
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void _wait_all_threads();
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void _debug_stack();
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AP_HAL::Proc _failsafe;
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bool _initialized;
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pthread_barrier_t _initialized_barrier;
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AP_HAL::MemberProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_timer_procs;
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volatile bool _in_timer_proc;
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AP_HAL::MemberProc _io_proc[LINUX_SCHEDULER_MAX_IO_PROCS];
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uint8_t _num_io_procs;
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// calculates an integer to be used as the priority for a
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// newly-created thread
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uint8_t calculate_thread_priority(priority_base base, int8_t priority) const;
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SchedulerThread _timer_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_timer_task, void), *this};
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SchedulerThread _io_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_io_task, void), *this};
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SchedulerThread _rcin_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_rcin_task, void), *this};
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SchedulerThread _uart_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_uart_task, void), *this};
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void _timer_task();
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void _io_task();
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void _rcin_task();
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void _uart_task();
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void _run_io();
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void _run_uarts();
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uint64_t _stopped_clock_usec;
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uint64_t _last_stack_debug_msec;
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pthread_t _main_ctx;
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Semaphore _io_semaphore;
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cpu_set_t _cpu_affinity;
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};
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}
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