mirror of https://github.com/ArduPilot/ardupilot
100 lines
2.6 KiB
C++
100 lines
2.6 KiB
C++
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#ifndef __AP_HAL_LINUX_SCHEDULER_H__
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#define __AP_HAL_LINUX_SCHEDULER_H__
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#include <AP_HAL_Linux.h>
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#include "Semaphores.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <sys/time.h>
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#include <pthread.h>
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#define LINUX_SCHEDULER_MAX_TIMER_PROCS 10
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#define LINUX_SCHEDULER_MAX_IO_PROCS 10
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class Linux::LinuxScheduler : public AP_HAL::Scheduler {
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typedef void *(*pthread_startroutine_t)(void *);
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public:
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LinuxScheduler();
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void init(void* machtnichts);
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void delay(uint16_t ms);
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uint32_t millis();
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uint32_t micros();
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uint64_t millis64();
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uint64_t micros64();
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void delay_microseconds(uint16_t us);
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void register_delay_callback(AP_HAL::Proc,
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uint16_t min_time_ms);
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void register_timer_process(AP_HAL::MemberProc);
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void register_io_process(AP_HAL::MemberProc);
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void suspend_timer_procs();
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void resume_timer_procs();
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bool in_timerprocess();
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
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void begin_atomic();
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void end_atomic();
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bool system_initializing();
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void system_initialized();
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void panic(const prog_char_t *errormsg) NORETURN;
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void reboot(bool hold_in_bootloader);
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void stop_clock(uint64_t time_usec);
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private:
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struct timespec _sketch_start_time;
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void _timer_handler(int signum);
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void _microsleep(uint32_t usec);
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AP_HAL::Proc _delay_cb;
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uint16_t _min_delay_cb_ms;
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AP_HAL::Proc _failsafe;
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bool _initialized;
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volatile bool _timer_pending;
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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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volatile bool _in_io_proc;
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volatile bool _timer_event_missed;
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pthread_t _timer_thread_ctx;
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pthread_t _io_thread_ctx;
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pthread_t _rcin_thread_ctx;
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pthread_t _uart_thread_ctx;
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pthread_t _tonealarm_thread_ctx;
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static void *_timer_thread(void* arg);
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static void *_io_thread(void* arg);
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static void *_rcin_thread(void* arg);
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static void *_uart_thread(void* arg);
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static void *_tonealarm_thread(void* arg);
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void _run_timers(bool called_from_timer_thread);
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void _run_io(void);
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void _create_realtime_thread(pthread_t *ctx, int rtprio, const char *name,
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pthread_startroutine_t start_routine);
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uint64_t stopped_clock_usec;
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LinuxSemaphore _timer_semaphore;
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LinuxSemaphore _io_semaphore;
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};
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#endif // CONFIG_HAL_BOARD
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#endif // __AP_HAL_LINUX_SCHEDULER_H__
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