mirror of https://github.com/ArduPilot/ardupilot
113 lines
3.2 KiB
C++
113 lines
3.2 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_HAL_SITL_Namespace.h"
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#include <sys/time.h>
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#include <pthread.h>
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#define SITL_SCHEDULER_MAX_TIMER_PROCS 8
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/* Scheduler implementation: */
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class HALSITL::Scheduler : public AP_HAL::Scheduler {
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public:
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explicit Scheduler(SITL_State *sitlState);
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static Scheduler *from(AP_HAL::Scheduler *scheduler) {
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return static_cast<HALSITL::Scheduler*>(scheduler);
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}
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/* AP_HAL::Scheduler methods */
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void init() override;
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void delay(uint16_t ms) override;
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void delay_microseconds(uint16_t us) override;
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void register_timer_process(AP_HAL::MemberProc) override;
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void register_io_process(AP_HAL::MemberProc) override;
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
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bool in_main_thread() const override;
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bool is_system_initialized() override { return _initialized; };
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void set_system_initialized() override;
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void reboot(bool hold_in_bootloader) override;
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bool interrupts_are_blocked(void) const {
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return _nested_atomic_ctr != 0;
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}
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void sitl_begin_atomic() {
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_nested_atomic_ctr++;
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}
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void sitl_end_atomic();
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static void timer_event() {
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_run_timer_procs();
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_run_io_procs();
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}
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uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
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static void _run_io_procs();
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static bool _should_exit;
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/*
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create a new thread
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*/
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bool thread_create(AP_HAL::MemberProc, const char *name,
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uint32_t stack_size, priority_base base, int8_t priority) override;
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void set_in_semaphore_take_wait(bool value) { _in_semaphore_take_wait = value; }
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/*
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* semaphore_wait_hack_required - possibly move time input step
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* forward even if we are currently pretending to be the IO or timer
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* threads.
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*/
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// a couple of helper functions to cope with SITL's time stepping
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bool semaphore_wait_hack_required() const;
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private:
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SITL_State *_sitlState;
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uint8_t _nested_atomic_ctr;
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static AP_HAL::Proc _failsafe;
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static void _run_timer_procs();
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static volatile bool _timer_event_missed;
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static AP_HAL::MemberProc _timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
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static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
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static uint8_t _num_timer_procs;
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static uint8_t _num_io_procs;
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static bool _in_timer_proc;
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static bool _in_io_proc;
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// boolean set by the Semaphore code to indicate it's currently
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// waiting for a take-timeout to occur.
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static bool _in_semaphore_take_wait;
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void stop_clock(uint64_t time_usec) override;
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static void *thread_create_trampoline(void *ctx);
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static void check_thread_stacks(void);
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bool _initialized;
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uint64_t _stopped_clock_usec;
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uint64_t _last_io_run;
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pthread_t _main_ctx;
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static HAL_Semaphore _thread_sem;
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struct thread_attr {
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struct thread_attr *next;
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AP_HAL::MemberProc *f;
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pthread_attr_t attr;
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uint32_t stack_size;
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void *stack;
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const uint8_t *stack_min;
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const char *name;
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};
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static struct thread_attr *threads;
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static const uint8_t stackfill = 0xEB;
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};
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#endif // CONFIG_HAL_BOARD
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