mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
0ed7f94bfc
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
91 lines
2.4 KiB
C++
91 lines
2.4 KiB
C++
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#ifndef __AP_HAL_SITL_SCHEDULER_H__
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#define __AP_HAL_SITL_SCHEDULER_H__
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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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#define SITL_SCHEDULER_MAX_TIMER_PROCS 4
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/* Scheduler implementation: */
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class HALSITL::SITLScheduler : public AP_HAL::Scheduler {
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public:
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SITLScheduler(SITL_State *sitlState);
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static SITLScheduler *from(AP_HAL::Scheduler *scheduler) {
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return static_cast<SITLScheduler*>(scheduler);
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}
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/* AP_HAL::Scheduler methods */
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void init(void *unused);
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void delay(uint16_t ms);
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uint32_t millis();
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uint32_t micros();
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uint64_t millis64();
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uint64_t micros64();
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void delay_microseconds(uint16_t us);
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void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
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void register_timer_process(AP_HAL::MemberProc);
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void register_io_process(AP_HAL::MemberProc);
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void suspend_timer_procs();
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void resume_timer_procs();
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bool in_timerprocess();
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
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bool system_initializing();
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void system_initialized();
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void reboot(bool hold_in_bootloader);
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void panic(const prog_char_t *errormsg) NORETURN;
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bool interrupts_are_blocked(void) {
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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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// callable from interrupt handler
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static uint64_t _micros64();
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static void timer_event() {
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_run_timer_procs(true);
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_run_io_procs(true);
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}
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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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AP_HAL::Proc _delay_cb;
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uint16_t _min_delay_cb_ms;
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static struct timeval _sketch_start_time;
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static AP_HAL::Proc _failsafe;
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static void _run_timer_procs(bool called_from_isr);
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static void _run_io_procs(bool called_from_isr);
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static volatile bool _timer_suspended;
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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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void stop_clock(uint64_t time_usec);
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bool _initialized;
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uint64_t stopped_clock_usec;
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};
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#endif
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#endif // __AP_HAL_SITL_SCHEDULER_H__
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