mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.2 KiB
C++
59 lines
1.2 KiB
C++
#include "Scheduler.h"
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#include "AP_HAL.h"
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#include <stdio.h>
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using namespace AP_HAL;
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extern const AP_HAL::HAL& hal;
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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::call_delay_cb()
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{
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if (_delay_cb == nullptr) {
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return;
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}
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if (_in_delay_callback) {
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// don't recurse!
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return;
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}
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_in_delay_callback = true;
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_delay_cb();
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_in_delay_callback = false;
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}
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ExpectDelay::ExpectDelay(uint32_t ms)
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{
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hal.scheduler->expect_delay_ms(ms);
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}
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ExpectDelay::~ExpectDelay()
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{
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hal.scheduler->expect_delay_ms(0);
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}
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/*
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implement TimeCheck class for TIME_CHECK() support
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*/
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TimeCheck::TimeCheck(uint32_t _limit_ms, const char *_file, uint32_t _line) :
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limit_ms(_limit_ms),
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file(_file),
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line(_line)
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{
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start_ms = AP_HAL::millis();
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}
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TimeCheck::~TimeCheck()
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{
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const uint32_t end_ms = AP_HAL::millis();
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const uint32_t delta_ms = end_ms - start_ms;
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if (delta_ms > limit_ms) {
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::printf("Delta %u at %s:%u\n", unsigned(delta_ms), file, unsigned(line));
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}
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}
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