ardupilot/libraries/AP_HAL_SITL/Scheduler.h

91 lines
2.4 KiB
C++

#ifndef __AP_HAL_SITL_SCHEDULER_H__
#define __AP_HAL_SITL_SCHEDULER_H__
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_HAL_SITL_Namespace.h"
#include <sys/time.h>
#define SITL_SCHEDULER_MAX_TIMER_PROCS 4
/* Scheduler implementation: */
class HALSITL::SITLScheduler : public AP_HAL::Scheduler {
public:
SITLScheduler(SITL_State *sitlState);
static SITLScheduler *from(AP_HAL::Scheduler *scheduler) {
return static_cast<SITLScheduler*>(scheduler);
}
/* AP_HAL::Scheduler methods */
void init(void *unused);
void delay(uint16_t ms);
uint32_t millis();
uint32_t micros();
uint64_t millis64();
uint64_t micros64();
void delay_microseconds(uint16_t us);
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
void register_timer_process(AP_HAL::MemberProc);
void register_io_process(AP_HAL::MemberProc);
void suspend_timer_procs();
void resume_timer_procs();
bool in_timerprocess();
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
bool system_initializing();
void system_initialized();
void reboot(bool hold_in_bootloader);
void panic(const prog_char_t *errormsg) NORETURN;
bool interrupts_are_blocked(void) {
return _nested_atomic_ctr != 0;
}
void sitl_begin_atomic() {
_nested_atomic_ctr++;
}
void sitl_end_atomic();
// callable from interrupt handler
static uint64_t _micros64();
static void timer_event() {
_run_timer_procs(true);
_run_io_procs(true);
}
private:
SITL_State *_sitlState;
uint8_t _nested_atomic_ctr;
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
static struct timeval _sketch_start_time;
static AP_HAL::Proc _failsafe;
static void _run_timer_procs(bool called_from_isr);
static void _run_io_procs(bool called_from_isr);
static volatile bool _timer_suspended;
static volatile bool _timer_event_missed;
static AP_HAL::MemberProc _timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
static uint8_t _num_timer_procs;
static uint8_t _num_io_procs;
static bool _in_timer_proc;
static bool _in_io_proc;
void stop_clock(uint64_t time_usec);
bool _initialized;
uint64_t stopped_clock_usec;
};
#endif
#endif // __AP_HAL_SITL_SCHEDULER_H__