ardupilot/libraries/AP_Common/AP_Loop.h

61 lines
1.5 KiB
C++

/*
* AP_Loop.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef AP_Loop_H
#define AP_Loop_H
#include "AP_Vector.h"
class Loop
{
public:
Loop() : _fptr(), _data(), _period(), _subLoops(), _timeStamp(), _load(), _dt() {};
Loop(float frequency, void (*fptr)(void *) = NULL, void * data = NULL);
void update();
Vector<Loop *> & subLoops() {
return _subLoops;
}
uint32_t frequency() {
return 1.0e6/_period;
}
void frequency(float frequency) {
_period = 1e6/frequency;
}
uint32_t timeStamp() {
return _timeStamp;
}
float dt() {
return _dt;
}
uint8_t load() {
return _load;
}
private:
void (*_fptr)(void *);
void * _data;
uint32_t _period;
Vector<Loop *> _subLoops;
uint32_t _timeStamp;
uint8_t _load;
float _dt;
};
#endif
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