mirror of https://github.com/ArduPilot/ardupilot
141 lines
2.9 KiB
C++
141 lines
2.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// Simple test for the AP_Scheduler interface
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//
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#include <AP_HAL.h>
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_Math.h>
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#include <AP_Param.h>
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#include <AP_InertialSensor.h>
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#include <AP_ADC.h>
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#include <AP_ADC_AnalogSource.h>
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#include <AP_Baro.h>
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#include <AP_GPS.h>
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#include <AP_AHRS.h>
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#include <AP_Compass.h>
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#include <AP_Declination.h>
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#include <AP_Airspeed.h>
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#include <AP_Baro.h>
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#include <GCS_MAVLink.h>
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#include <AP_Mission.h>
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#include <StorageManager.h>
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#include <AP_Terrain.h>
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#include <Filter.h>
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#include <SITL.h>
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#include <AP_Buffer.h>
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#include <AP_Notify.h>
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#include <AP_Vehicle.h>
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#include <DataFlash.h>
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#include <AP_NavEKF.h>
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#include <AP_Rally.h>
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#include <AP_BattMonitor.h>
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#include <AP_Scheduler.h>
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#include <AP_RangeFinder.h>
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_SITL.h>
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#include <AP_HAL_Empty.h>
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#include <AP_HAL_PX4.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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class SchedTest {
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public:
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void setup();
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void loop();
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private:
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AP_InertialSensor ins;
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AP_Scheduler scheduler;
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uint32_t ins_counter;
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static const AP_Scheduler::Task scheduler_tasks[];
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void ins_update(void);
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void one_hz_print(void);
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void five_second_call(void);
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};
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static SchedTest schedtest;
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#define SCHED_TASK(func) FUNCTOR_BIND(&schedtest, &SchedTest::func, void)
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/*
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scheduler table - all regular tasks are listed here, along with how
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often they should be called (in 20ms units) and the maximum time
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they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task SchedTest::scheduler_tasks[] PROGMEM = {
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{ SCHED_TASK(ins_update), 1, 1000 },
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{ SCHED_TASK(one_hz_print), 50, 1000 },
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{ SCHED_TASK(five_second_call), 250, 1800 },
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};
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void SchedTest::setup(void)
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{
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// we
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ins.init(AP_InertialSensor::COLD_START,
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AP_InertialSensor::RATE_50HZ);
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// initialise the scheduler
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scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
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}
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void SchedTest::loop(void)
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{
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// wait for an INS sample
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ins.wait_for_sample();
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// tell the scheduler one tick has passed
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scheduler.tick();
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// run all tasks that fit in 20ms
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scheduler.run(20000);
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}
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/*
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update inertial sensor, reading data
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*/
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void SchedTest::ins_update(void)
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{
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ins_counter++;
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ins.update();
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}
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/*
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print something once a second
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*/
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void SchedTest::one_hz_print(void)
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{
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hal.console->printf("one_hz: t=%lu\n", hal.scheduler->millis());
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}
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/*
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print something every 5 seconds
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*/
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void SchedTest::five_second_call(void)
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{
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hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", hal.scheduler->millis(), ins_counter);
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}
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/*
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compatibility with old pde style build
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*/
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void setup(void);
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void loop(void);
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void setup(void)
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{
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schedtest.setup();
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}
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void loop(void)
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{
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schedtest.loop();
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}
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AP_HAL_MAIN();
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