mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.6 KiB
C++
70 lines
1.6 KiB
C++
#include "AP_Vehicle.h"
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#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros)
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/*
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2nd group of parameters
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*/
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const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
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#if HAL_RUNCAM_ENABLED
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// @Group: CAM_RC_
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// @Path: ../AP_Camera/AP_RunCam.cpp
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AP_SUBGROUPINFO(runcam, "CAM_RC_", 1, AP_Vehicle, AP_RunCam),
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#endif
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AP_GROUPEND
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};
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// reference to the vehicle. using AP::vehicle() here does not work on clang
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#if APM_BUILD_TYPE(APM_BUILD_Replay) || APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
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AP_Vehicle& vehicle = *AP_Vehicle::get_singleton();
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#else
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extern AP_Vehicle& vehicle;
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#endif
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/*
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common scheduler table for fast CPUs - all common vehicle tasks
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should be listed here, along with how often they should be called (in hz)
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and the maximum time they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
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#if HAL_RUNCAM_ENABLED
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SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50),
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#endif
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};
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void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks)
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{
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tasks = scheduler_tasks;
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num_tasks = ARRAY_SIZE(scheduler_tasks);
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}
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// initialize the vehicle
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void AP_Vehicle::init_vehicle()
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{
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if (init_done) {
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return;
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}
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init_done = true;
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#if HAL_RUNCAM_ENABLED
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runcam.init();
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#endif
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}
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AP_Vehicle *AP_Vehicle::_singleton = nullptr;
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AP_Vehicle *AP_Vehicle::get_singleton()
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{
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return _singleton;
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}
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namespace AP {
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AP_Vehicle *vehicle()
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{
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return AP_Vehicle::get_singleton();
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}
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};
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