ardupilot/libraries/AP_HAL_Linux/Scheduler.h

115 lines
3.0 KiB
C++

#ifndef __AP_HAL_LINUX_SCHEDULER_H__
#define __AP_HAL_LINUX_SCHEDULER_H__
#include "AP_HAL_Linux.h"
#include "Semaphores.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <sys/time.h>
#include <pthread.h>
#define LINUX_SCHEDULER_MAX_TIMER_PROCS 10
#define LINUX_SCHEDULER_MAX_TIMESLICED_PROCS 10
#define LINUX_SCHEDULER_MAX_IO_PROCS 10
class Linux::Scheduler : public AP_HAL::Scheduler {
typedef void *(*pthread_startroutine_t)(void *);
public:
Scheduler();
static Scheduler *from(AP_HAL::Scheduler *scheduler) {
return static_cast<Scheduler*>(scheduler);
}
void init();
void delay(uint16_t ms);
void delay_microseconds(uint16_t us);
void register_delay_callback(AP_HAL::Proc,
uint16_t min_time_ms);
void register_timer_process(AP_HAL::MemberProc);
bool register_timer_process(AP_HAL::MemberProc, uint8_t);
void register_io_process(AP_HAL::MemberProc);
void suspend_timer_procs();
void resume_timer_procs();
bool in_timerprocess();
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
void begin_atomic();
void end_atomic();
bool system_initializing();
void system_initialized();
void reboot(bool hold_in_bootloader);
void stop_clock(uint64_t time_usec);
uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
private:
void _timer_handler(int signum);
void _microsleep(uint32_t usec);
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
AP_HAL::Proc _failsafe;
bool _initialized;
volatile bool _timer_pending;
AP_HAL::MemberProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
uint8_t _num_timer_procs;
volatile bool _in_timer_proc;
uint8_t _timeslices_count;
struct timesliced_proc {
AP_HAL::MemberProc proc;
uint8_t timeslot;
uint8_t freq_div;
};
timesliced_proc _timesliced_proc[LINUX_SCHEDULER_MAX_TIMESLICED_PROCS];
uint8_t _num_timesliced_procs;
uint8_t _max_freq_div;
AP_HAL::MemberProc _io_proc[LINUX_SCHEDULER_MAX_IO_PROCS];
uint8_t _num_io_procs;
volatile bool _in_io_proc;
volatile bool _timer_event_missed;
pthread_t _timer_thread_ctx;
pthread_t _io_thread_ctx;
pthread_t _rcin_thread_ctx;
pthread_t _uart_thread_ctx;
pthread_t _tonealarm_thread_ctx;
static void *_timer_thread(void* arg);
static void *_io_thread(void* arg);
static void *_rcin_thread(void* arg);
static void *_uart_thread(void* arg);
static void _run_uarts(void);
static void *_tonealarm_thread(void* arg);
void _run_timers(bool called_from_timer_thread);
void _run_io(void);
void _create_realtime_thread(pthread_t *ctx, int rtprio, const char *name,
pthread_startroutine_t start_routine);
bool _register_timesliced_proc(AP_HAL::MemberProc, uint8_t);
uint64_t _stopped_clock_usec;
Semaphore _timer_semaphore;
Semaphore _io_semaphore;
};
#endif // CONFIG_HAL_BOARD
#endif // __AP_HAL_LINUX_SCHEDULER_H__