mirror of https://github.com/ArduPilot/ardupilot
30 lines
1.1 KiB
C++
30 lines
1.1 KiB
C++
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#ifndef __AP_PERIODIC_PROCESS_STUB_H__
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#define __AP_PERIODIC_PROCESS_STUB_H__
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#include "PeriodicProcess.h"
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#include "../Arduino_Mega_ISR_Registry/Arduino_Mega_ISR_Registry.h"
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class AP_PeriodicProcessStub : public AP_PeriodicProcess
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{
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public:
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AP_PeriodicProcessStub(uint8_t period = 0);
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void init( Arduino_Mega_ISR_Registry * isr_reg );
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void register_process(ap_procedure proc);
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void set_failsafe(ap_procedure proc);
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bool queue_process(ap_procedure proc); // queue process to run as soon as possible after any currently running ap_processes complete. returns true if it ran immediately
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void suspend_timer(void);
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void resume_timer(void);
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bool running();
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static void run(void);
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protected:
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static uint8_t _period;
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static void (*_proc)(void);
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static void (*_failsafe)(void);
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static void (*_queued_proc)(void);
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static bool _suspended;
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};
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#endif
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