ardupilot/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp

136 lines
3.2 KiB
C++

//
// Simple test for the AP_Scheduler interface
//
#include <AP_HAL/AP_HAL.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#include <AP_Scheduler/AP_Scheduler.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS_Dummy.h>
const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
AP_GROUPEND
};
GCS_Dummy _gcs;
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
AP_Logger logger;
class SchedTest {
public:
void setup();
void loop();
private:
AP_InertialSensor ins;
#if HAL_EXTERNAL_AHRS_ENABLED
AP_ExternalAHRS eAHRS;
#endif // HAL_EXTERNAL_AHRS_ENABLED
AP_Scheduler scheduler;
uint32_t ins_counter;
static const AP_Scheduler::Task scheduler_tasks[];
void ins_update(void);
void one_hz_print(void);
void five_second_call(void);
};
static AP_BoardConfig board_config;
static SchedTest schedtest;
#define SCHED_TASK(func, _interval_ticks, _max_time_micros, _priority) SCHED_TASK_CLASS(SchedTest, &schedtest, func, _interval_ticks, _max_time_micros, _priority)
/*
scheduler table - all regular tasks should be listed here.
All entries in this table must be ordered by priority.
This table is interleaved with the table in AP_Vehicle to determine
the order in which tasks are run. Convenience methods SCHED_TASK
and SCHED_TASK_CLASS are provided to build entries in this structure:
SCHED_TASK arguments:
- name of static function to call
- rate (in Hertz) at which the function should be called
- expected time (in MicroSeconds) that the function should take to run
- priority (0 through 255, lower number meaning higher priority)
SCHED_TASK_CLASS arguments:
- class name of method to be called
- instance on which to call the method
- method to call on that instance
- rate (in Hertz) at which the method should be called
- expected time (in MicroSeconds) that the method should take to run
- priority (0 through 255, lower number meaning higher priority)
*/
const AP_Scheduler::Task SchedTest::scheduler_tasks[] = {
SCHED_TASK(ins_update, 50, 1000, 3),
SCHED_TASK(one_hz_print, 1, 1000, 6),
SCHED_TASK(five_second_call, 0.2, 1800, 9),
};
void SchedTest::setup(void)
{
board_config.init();
ins.init(scheduler.get_loop_rate_hz());
// initialise the scheduler
scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), (uint32_t)-1);
}
void SchedTest::loop(void)
{
// run all tasks
scheduler.loop();
}
/*
update inertial sensor, reading data
*/
void SchedTest::ins_update(void)
{
ins_counter++;
ins.update();
}
/*
print something once a second
*/
void SchedTest::one_hz_print(void)
{
hal.console->printf("one_hz: t=%lu\n", (unsigned long)AP_HAL::millis());
}
/*
print something every 5 seconds
*/
void SchedTest::five_second_call(void)
{
hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", (unsigned long)AP_HAL::millis(), (unsigned)ins_counter);
}
/*
compatibility with old pde style build
*/
void setup(void);
void loop(void);
void setup(void)
{
schedtest.setup();
}
void loop(void)
{
schedtest.loop();
}
AP_HAL_MAIN();