mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.1 KiB
C++
84 lines
2.1 KiB
C++
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
#include "AP_HAL_SITL_Namespace.h"
|
|
#include <sys/time.h>
|
|
|
|
#define SITL_SCHEDULER_MAX_TIMER_PROCS 4
|
|
|
|
/* Scheduler implementation: */
|
|
class HALSITL::Scheduler : public AP_HAL::Scheduler {
|
|
public:
|
|
explicit Scheduler(SITL_State *sitlState);
|
|
static Scheduler *from(AP_HAL::Scheduler *scheduler) {
|
|
return static_cast<HALSITL::Scheduler*>(scheduler);
|
|
}
|
|
|
|
/* AP_HAL::Scheduler methods */
|
|
|
|
void init();
|
|
void delay(uint16_t ms);
|
|
void delay_microseconds(uint16_t us);
|
|
|
|
void register_timer_process(AP_HAL::MemberProc);
|
|
void register_io_process(AP_HAL::MemberProc);
|
|
|
|
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
|
|
|
|
bool in_main_thread() const override;
|
|
void system_initialized();
|
|
|
|
void reboot(bool hold_in_bootloader);
|
|
|
|
bool interrupts_are_blocked(void) {
|
|
return _nested_atomic_ctr != 0;
|
|
}
|
|
|
|
void sitl_begin_atomic() {
|
|
_nested_atomic_ctr++;
|
|
}
|
|
void sitl_end_atomic();
|
|
|
|
static void timer_event() {
|
|
_run_timer_procs();
|
|
_run_io_procs();
|
|
}
|
|
|
|
uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
|
|
|
|
static void _run_io_procs();
|
|
static bool _should_reboot;
|
|
|
|
/*
|
|
create a new thread
|
|
*/
|
|
bool thread_create(AP_HAL::MemberProc, const char *name,
|
|
uint32_t stack_size, priority_base base, int8_t priority) override;
|
|
|
|
private:
|
|
SITL_State *_sitlState;
|
|
uint8_t _nested_atomic_ctr;
|
|
static AP_HAL::Proc _failsafe;
|
|
|
|
static void _run_timer_procs();
|
|
|
|
static volatile bool _timer_event_missed;
|
|
static AP_HAL::MemberProc _timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
|
|
static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
|
|
static uint8_t _num_timer_procs;
|
|
static uint8_t _num_io_procs;
|
|
static bool _in_timer_proc;
|
|
static bool _in_io_proc;
|
|
|
|
void stop_clock(uint64_t time_usec);
|
|
|
|
static void *thread_create_trampoline(void *ctx);
|
|
|
|
bool _initialized;
|
|
uint64_t _stopped_clock_usec;
|
|
uint64_t _last_io_run;
|
|
pthread_t _main_ctx;
|
|
};
|
|
#endif // CONFIG_HAL_BOARD
|