mirror of https://github.com/ArduPilot/ardupilot
137 lines
3.2 KiB
C++
137 lines
3.2 KiB
C++
//
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// Simple test for the AP_Scheduler interface
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//
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#include <AP_HAL/AP_HAL.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_Logger/AP_Logger.h>
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#include <GCS_MAVLink/GCS_Dummy.h>
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const struct AP_Param::GroupInfo GCS_MAVLINK_Parameters::var_info[] = {
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AP_GROUPEND
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};
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GCS_Dummy _gcs;
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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AP_Int32 log_bitmask;
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AP_Logger AP_Logger{log_bitmask};
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class SchedTest {
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public:
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void setup();
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void loop();
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private:
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AP_InertialSensor ins;
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#if HAL_EXTERNAL_AHRS_ENABLED
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AP_ExternalAHRS eAHRS;
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#endif // HAL_EXTERNAL_AHRS_ENABLED
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AP_Scheduler scheduler;
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uint32_t ins_counter;
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static const AP_Scheduler::Task scheduler_tasks[];
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void ins_update(void);
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void one_hz_print(void);
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void five_second_call(void);
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};
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static AP_BoardConfig board_config;
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static SchedTest schedtest;
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros, _priority) SCHED_TASK_CLASS(SchedTest, &schedtest, func, _interval_ticks, _max_time_micros, _priority)
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/*
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scheduler table - all regular tasks should be listed here.
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All entries in this table must be ordered by priority.
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This table is interleaved with the table in AP_Vehicle to determine
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the order in which tasks are run. Convenience methods SCHED_TASK
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and SCHED_TASK_CLASS are provided to build entries in this structure:
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SCHED_TASK arguments:
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- name of static function to call
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- rate (in Hertz) at which the function should be called
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- expected time (in MicroSeconds) that the function should take to run
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- priority (0 through 255, lower number meaning higher priority)
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SCHED_TASK_CLASS arguments:
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- class name of method to be called
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- instance on which to call the method
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- method to call on that instance
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- rate (in Hertz) at which the method should be called
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- expected time (in MicroSeconds) that the method should take to run
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- priority (0 through 255, lower number meaning higher priority)
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*/
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const AP_Scheduler::Task SchedTest::scheduler_tasks[] = {
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SCHED_TASK(ins_update, 50, 1000, 3),
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SCHED_TASK(one_hz_print, 1, 1000, 6),
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SCHED_TASK(five_second_call, 0.2, 1800, 9),
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};
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void SchedTest::setup(void)
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{
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board_config.init();
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ins.init(scheduler.get_loop_rate_hz());
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// initialise the scheduler
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scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), (uint32_t)-1);
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}
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void SchedTest::loop(void)
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{
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// run all tasks
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scheduler.loop();
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}
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/*
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update inertial sensor, reading data
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*/
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void SchedTest::ins_update(void)
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{
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ins_counter++;
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ins.update();
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}
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/*
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print something once a second
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*/
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void SchedTest::one_hz_print(void)
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{
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hal.console->printf("one_hz: t=%lu\n", (unsigned long)AP_HAL::millis());
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}
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/*
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print something every 5 seconds
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*/
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void SchedTest::five_second_call(void)
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{
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hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", (unsigned long)AP_HAL::millis(), (unsigned)ins_counter);
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}
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/*
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compatibility with old pde style build
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*/
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void setup(void);
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void loop(void);
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void setup(void)
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{
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schedtest.setup();
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}
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void loop(void)
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{
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schedtest.loop();
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}
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AP_HAL_MAIN();
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