ardupilot/libraries/AP_HAL_Linux/Scheduler.h

122 lines
3.2 KiB
C++

#pragma once
#include <pthread.h>
#include "AP_HAL_Linux.h"
#include "Semaphores.h"
#include "Thread.h"
#define LINUX_SCHEDULER_MAX_TIMER_PROCS 10
#define LINUX_SCHEDULER_MAX_TIMESLICED_PROCS 10
#define LINUX_SCHEDULER_MAX_IO_PROCS 10
#define AP_LINUX_SENSORS_STACK_SIZE 256 * 1024
#define AP_LINUX_SENSORS_SCHED_POLICY SCHED_FIFO
#define AP_LINUX_SENSORS_SCHED_PRIO 12
namespace Linux {
class Scheduler : public AP_HAL::Scheduler {
public:
Scheduler();
static Scheduler *from(AP_HAL::Scheduler *scheduler) {
return static_cast<Scheduler*>(scheduler);
}
void init();
void delay(uint16_t ms);
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);
bool register_timer_process(AP_HAL::MemberProc, uint8_t);
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);
void system_initialized();
void reboot(bool hold_in_bootloader);
void stop_clock(uint64_t time_usec);
uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
void microsleep(uint32_t usec);
void teardown();
private:
class SchedulerThread : public PeriodicThread {
public:
SchedulerThread(Thread::task_t t, Scheduler &sched)
: PeriodicThread(t)
, _sched(sched)
{ }
protected:
bool _run() override;
Scheduler &_sched;
};
void _wait_all_threads();
void _debug_stack();
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
AP_HAL::Proc _failsafe;
bool _initialized;
pthread_barrier_t _initialized_barrier;
AP_HAL::MemberProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
uint8_t _num_timer_procs;
volatile bool _in_timer_proc;
uint8_t _timeslices_count;
struct timesliced_proc {
AP_HAL::MemberProc proc;
uint8_t timeslot;
uint8_t freq_div;
};
timesliced_proc _timesliced_proc[LINUX_SCHEDULER_MAX_TIMESLICED_PROCS];
uint8_t _num_timesliced_procs;
uint8_t _max_freq_div;
AP_HAL::MemberProc _io_proc[LINUX_SCHEDULER_MAX_IO_PROCS];
uint8_t _num_io_procs;
SchedulerThread _timer_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_timer_task, void), *this};
SchedulerThread _io_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_io_task, void), *this};
SchedulerThread _rcin_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_rcin_task, void), *this};
SchedulerThread _uart_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_uart_task, void), *this};
SchedulerThread _tonealarm_thread{FUNCTOR_BIND_MEMBER(&Scheduler::_tonealarm_task, void), *this};
void _timer_task();
void _io_task();
void _rcin_task();
void _uart_task();
void _tonealarm_task();
void _run_io();
void _run_uarts();
bool _register_timesliced_proc(AP_HAL::MemberProc, uint8_t);
uint64_t _stopped_clock_usec;
uint64_t _last_stack_debug_msec;
Semaphore _timer_semaphore;
Semaphore _io_semaphore;
};
}