mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
444 lines
11 KiB
C++
444 lines
11 KiB
C++
#include "Scheduler.h"
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#include <algorithm>
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#include <errno.h>
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#include <poll.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <sys/mman.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include <AP_HAL/AP_HAL.h>
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#include "RCInput.h"
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#include "RPIOUARTDriver.h"
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#include "SPIUARTDriver.h"
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#include "Storage.h"
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#include "UARTDriver.h"
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#include "Util.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include <rpcmem.h>
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#include <AP_HAL_Linux/qflight/qflight_util.h>
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#include <AP_HAL_Linux/qflight/qflight_dsp.h>
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#include <AP_HAL_Linux/qflight/qflight_buffer.h>
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#endif
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using namespace Linux;
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extern const AP_HAL::HAL& hal;
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#define APM_LINUX_TIMER_PRIORITY 15
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#define APM_LINUX_UART_PRIORITY 14
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#define APM_LINUX_RCIN_PRIORITY 13
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#define APM_LINUX_MAIN_PRIORITY 12
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#define APM_LINUX_TONEALARM_PRIORITY 11
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#define APM_LINUX_IO_PRIORITY 10
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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#define APM_LINUX_UART_PERIOD 10000
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#define APM_LINUX_RCIN_PERIOD 500
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#define APM_LINUX_TONEALARM_PERIOD 10000
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#define APM_LINUX_IO_PERIOD 20000
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#else
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#define APM_LINUX_UART_PERIOD 10000
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#define APM_LINUX_RCIN_PERIOD 10000
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#define APM_LINUX_TONEALARM_PERIOD 10000
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#define APM_LINUX_IO_PERIOD 20000
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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Scheduler::Scheduler()
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{ }
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void Scheduler::init()
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{
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mlockall(MCL_CURRENT|MCL_FUTURE);
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if (geteuid() != 0) {
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printf("WARNING: running as non-root. Will not use realtime scheduling\n");
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}
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struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
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sched_setscheduler(0, SCHED_FIFO, ¶m);
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/* set barrier to 6 threads: worker threads below + main thread */
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pthread_barrier_init(&_initialized_barrier, nullptr, 6);
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_timer_thread.start("sched-timer", SCHED_FIFO, APM_LINUX_TIMER_PRIORITY);
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_uart_thread.start("sched-uart", SCHED_FIFO, APM_LINUX_UART_PRIORITY);
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_rcin_thread.start("sched-rcin", SCHED_FIFO, APM_LINUX_RCIN_PRIORITY);
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_tonealarm_thread.start("sched-tonealarm", SCHED_FIFO, APM_LINUX_TONEALARM_PRIORITY);
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_io_thread.start("sched-io", SCHED_FIFO, APM_LINUX_IO_PRIORITY);
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}
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void Scheduler::microsleep(uint32_t usec)
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{
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struct timespec ts;
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ts.tv_sec = 0;
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ts.tv_nsec = usec*1000UL;
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while (nanosleep(&ts, &ts) == -1 && errno == EINTR) ;
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}
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void Scheduler::delay(uint16_t ms)
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{
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if (_stopped_clock_usec) {
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return;
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}
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uint64_t start = AP_HAL::millis64();
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while ((AP_HAL::millis64() - start) < ms) {
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// this yields the CPU to other apps
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microsleep(1000);
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if (_min_delay_cb_ms <= ms) {
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if (_delay_cb) {
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_delay_cb();
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}
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}
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}
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}
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void Scheduler::delay_microseconds(uint16_t us)
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{
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if (_stopped_clock_usec) {
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return;
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}
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microsleep(us);
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}
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void Scheduler::register_delay_callback(AP_HAL::Proc proc,
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uint16_t min_time_ms)
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{
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_delay_cb = proc;
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_min_delay_cb_ms = min_time_ms;
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}
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void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
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{
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for (uint8_t i = 0; i < _num_timer_procs; i++) {
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if (_timer_proc[i] == proc) {
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return;
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}
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}
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if (_num_timer_procs < LINUX_SCHEDULER_MAX_TIMER_PROCS) {
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_timer_proc[_num_timer_procs] = proc;
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_num_timer_procs++;
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} else {
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hal.console->printf("Out of timer processes\n");
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}
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}
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bool Scheduler::register_timer_process(AP_HAL::MemberProc proc,
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uint8_t freq_div)
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{
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
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if (freq_div > 1) {
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return _register_timesliced_proc(proc, freq_div);
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}
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/* fallback to normal timer process */
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#endif
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register_timer_process(proc);
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return false;
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}
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bool Scheduler::_register_timesliced_proc(AP_HAL::MemberProc proc,
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uint8_t freq_div)
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{
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unsigned int i, j;
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uint8_t distance, min_distance, best_distance;
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uint8_t best_timeslot;
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if (_num_timesliced_procs > LINUX_SCHEDULER_MAX_TIMESLICED_PROCS) {
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hal.console->printf("Out of timesliced processes\n");
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return false;
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}
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/* if max_freq_div increases, update the timeslots accordingly */
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if (freq_div > _max_freq_div) {
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for (i = 0; i < _num_timesliced_procs; i++) {
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_timesliced_proc[i].timeslot = _timesliced_proc[i].timeslot
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/ _max_freq_div * freq_div;
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}
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_max_freq_div = freq_div;
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}
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best_distance = 0;
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best_timeslot = 0;
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/* Look for the timeslot that maximizes the min distance with other timeslots */
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for (i = 0; i < _max_freq_div; i++) {
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min_distance = _max_freq_div;
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for (j = 0; j < _num_timesliced_procs; j++) {
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distance = std::min(i - _timesliced_proc[j].timeslot,
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_max_freq_div + _timesliced_proc[j].timeslot - i);
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if (distance < min_distance) {
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min_distance = distance;
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if (min_distance == 0) {
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break;
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}
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}
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}
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if (min_distance > best_distance) {
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best_distance = min_distance;
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best_timeslot = i;
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}
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}
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_timesliced_proc[_num_timesliced_procs].proc = proc;
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_timesliced_proc[_num_timesliced_procs].timeslot = best_timeslot;
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_timesliced_proc[_num_timesliced_procs].freq_div = freq_div;
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_num_timesliced_procs++;
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return true;
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}
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void Scheduler::register_io_process(AP_HAL::MemberProc proc)
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{
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for (uint8_t i = 0; i < _num_io_procs; i++) {
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if (_io_proc[i] == proc) {
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return;
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}
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}
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if (_num_io_procs < LINUX_SCHEDULER_MAX_IO_PROCS) {
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_io_proc[_num_io_procs] = proc;
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_num_io_procs++;
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} else {
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hal.console->printf("Out of IO processes\n");
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}
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}
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void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
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{
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_failsafe = failsafe;
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}
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void Scheduler::suspend_timer_procs()
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{
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if (!_timer_semaphore.take(0)) {
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printf("Failed to take timer semaphore\n");
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}
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}
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void Scheduler::resume_timer_procs()
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{
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_timer_semaphore.give();
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}
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void Scheduler::_run_timers(bool called_from_timer_thread)
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{
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int i;
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if (_in_timer_proc) {
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return;
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}
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_in_timer_proc = true;
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if (!_timer_semaphore.take(0)) {
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printf("Failed to take timer semaphore in _run_timers\n");
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}
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// now call the timer based drivers
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for (i = 0; i < _num_timer_procs; i++) {
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if (_timer_proc[i]) {
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_timer_proc[i]();
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}
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}
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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//SPI UART use SPI
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if (!((RPIOUARTDriver *)hal.uartC)->isExternal() )
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{
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((RPIOUARTDriver *)hal.uartC)->_timer_tick();
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}
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#endif
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for (i = 0; i < _num_timesliced_procs; i++) {
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if ((_timeslices_count + _timesliced_proc[i].timeslot)
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% _timesliced_proc[i].freq_div == 0) {
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_timesliced_proc[i].proc();
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}
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}
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if (_max_freq_div != 0) {
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_timeslices_count++;
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if (_timeslices_count == _max_freq_div) {
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_timeslices_count = 0;
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}
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}
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_timer_semaphore.give();
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// and the failsafe, if one is setup
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if (_failsafe != NULL) {
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_failsafe();
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}
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_in_timer_proc = false;
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}
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void Scheduler::_timer_task()
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{
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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printf("Initialising rpcmem\n");
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rpcmem_init();
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#endif
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/*
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this aims to run at an average of 1kHz, so that it can be used
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to drive 1kHz processes without drift
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*/
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uint64_t next_run_usec = AP_HAL::micros64() + 1000;
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while (true) {
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uint64_t dt = next_run_usec - AP_HAL::micros64();
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if (dt > 2000) {
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// we've lost sync - restart
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next_run_usec = AP_HAL::micros64();
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} else {
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microsleep(dt);
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}
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next_run_usec += 1000;
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// run registered timers
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_run_timers(true);
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#if HAL_LINUX_UARTS_ON_TIMER_THREAD
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/*
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some boards require that UART calls happen on the same
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thread as other calls of the same time. This impacts the
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QFLIGHT calls where UART output is an RPC call to the DSPs
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*/
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_run_uarts();
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RCInput::from(hal.rcin)->_timer_tick();
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#endif
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}
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}
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void Scheduler::_run_io(void)
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{
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if (!_io_semaphore.take(0)) {
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return;
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}
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// now call the IO based drivers
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for (int i = 0; i < _num_io_procs; i++) {
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if (_io_proc[i]) {
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_io_proc[i]();
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}
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}
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_io_semaphore.give();
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}
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void Scheduler::_rcin_task()
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{
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while (true) {
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microsleep(APM_LINUX_RCIN_PERIOD);
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#if !HAL_LINUX_UARTS_ON_TIMER_THREAD
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RCInput::from(hal.rcin)->_timer_tick();
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#endif
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}
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}
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/*
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run timers for all UARTs
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*/
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void Scheduler::_run_uarts()
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{
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// process any pending serial bytes
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UARTDriver::from(hal.uartA)->_timer_tick();
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UARTDriver::from(hal.uartB)->_timer_tick();
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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//SPI UART not use SPI
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if (RPIOUARTDriver::from(hal.uartC)->isExternal()) {
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RPIOUARTDriver::from(hal.uartC)->_timer_tick();
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}
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#else
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UARTDriver::from(hal.uartC)->_timer_tick();
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#endif
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UARTDriver::from(hal.uartE)->_timer_tick();
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}
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void Scheduler::_uart_task()
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{
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while (true) {
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microsleep(APM_LINUX_UART_PERIOD);
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#if !HAL_LINUX_UARTS_ON_TIMER_THREAD
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_run_uarts();
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#endif
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}
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}
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void Scheduler::_tonealarm_task()
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{
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while (true) {
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microsleep(APM_LINUX_TONEALARM_PERIOD);
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// process tone command
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Util::from(hal.util)->_toneAlarm_timer_tick();
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}
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}
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void Scheduler::_io_task()
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{
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while (true) {
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microsleep(APM_LINUX_IO_PERIOD);
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// process any pending storage writes
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Storage::from(hal.storage)->_timer_tick();
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// run registered IO procepsses
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_run_io();
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}
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}
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bool Scheduler::in_timerprocess()
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{
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return _in_timer_proc;
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}
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void Scheduler::begin_atomic()
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{}
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void Scheduler::end_atomic()
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{}
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void Scheduler::_wait_all_threads()
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{
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int r = pthread_barrier_wait(&_initialized_barrier);
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if (r == PTHREAD_BARRIER_SERIAL_THREAD) {
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pthread_barrier_destroy(&_initialized_barrier);
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}
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}
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void Scheduler::system_initialized()
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{
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if (_initialized) {
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AP_HAL::panic("PANIC: scheduler::system_initialized called more than once");
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}
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_initialized = true;
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_wait_all_threads();
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}
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void Scheduler::reboot(bool hold_in_bootloader)
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{
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exit(1);
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}
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void Scheduler::stop_clock(uint64_t time_usec)
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{
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if (time_usec >= _stopped_clock_usec) {
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_stopped_clock_usec = time_usec;
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_run_io();
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}
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}
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bool Scheduler::SchedulerThread::_run()
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{
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_sched._wait_all_threads();
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return Thread::_run();
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}
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