mirror of https://github.com/ArduPilot/ardupilot
406 lines
9.6 KiB
C++
406 lines
9.6 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 <AP_Vehicle/AP_Vehicle_Type.h>
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#include "RCInput.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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#if HAL_WITH_UAVCAN
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#include "CAN.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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#define APM_LINUX_TIMER_RATE 1000
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#define APM_LINUX_UART_RATE 100
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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_DARK || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
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#define APM_LINUX_RCIN_RATE 2000
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#define APM_LINUX_TONEALARM_RATE 100
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#define APM_LINUX_IO_RATE 50
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#else
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#define APM_LINUX_RCIN_RATE 100
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#define APM_LINUX_TONEALARM_RATE 100
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#define APM_LINUX_IO_RATE 50
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#endif
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#define SCHED_THREAD(name_, UPPER_NAME_) \
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{ \
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.name = "ap-" #name_, \
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.thread = &_##name_##_thread, \
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.policy = SCHED_FIFO, \
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.prio = APM_LINUX_##UPPER_NAME_##_PRIORITY, \
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.rate = APM_LINUX_##UPPER_NAME_##_RATE, \
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}
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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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int ret;
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const struct sched_table {
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const char *name;
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SchedulerThread *thread;
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int policy;
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int prio;
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uint32_t rate;
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} sched_table[] = {
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SCHED_THREAD(timer, TIMER),
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SCHED_THREAD(uart, UART),
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SCHED_THREAD(rcin, RCIN),
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SCHED_THREAD(tonealarm, TONEALARM),
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SCHED_THREAD(io, IO),
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};
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_main_ctx = pthread_self();
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#if !APM_BUILD_TYPE(APM_BUILD_Replay)
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// we don't run Replay in real-time...
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mlockall(MCL_CURRENT|MCL_FUTURE);
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struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
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if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
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AP_HAL::panic("Scheduler: failed to set scheduling parameters: %s",
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strerror(errno));
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}
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#endif
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/* set barrier to N + 1 threads: worker threads + main */
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unsigned n_threads = ARRAY_SIZE(sched_table) + 1;
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ret = pthread_barrier_init(&_initialized_barrier, nullptr, n_threads);
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if (ret) {
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AP_HAL::panic("Scheduler: Failed to initialise barrier object: %s",
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strerror(ret));
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}
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for (size_t i = 0; i < ARRAY_SIZE(sched_table); i++) {
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const struct sched_table *t = &sched_table[i];
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t->thread->set_rate(t->rate);
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t->thread->set_stack_size(1024 * 1024);
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t->thread->start(t->name, t->policy, t->prio);
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}
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#if defined(DEBUG_STACK) && DEBUG_STACK
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register_timer_process(FUNCTOR_BIND_MEMBER(&Scheduler::_debug_stack, void));
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#endif
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}
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void Scheduler::_debug_stack()
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{
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uint64_t now = AP_HAL::millis64();
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if (now - _last_stack_debug_msec > 5000) {
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fprintf(stderr, "Stack Usage:\n"
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"\ttimer = %zu\n"
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"\tio = %zu\n"
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"\trcin = %zu\n"
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"\tuart = %zu\n"
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"\ttone = %zu\n",
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_timer_thread.get_stack_usage(),
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_io_thread.get_stack_usage(),
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_rcin_thread.get_stack_usage(),
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_uart_thread.get_stack_usage(),
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_tonealarm_thread.get_stack_usage());
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_last_stack_debug_msec = now;
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}
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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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if (!in_main_thread()) {
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fprintf(stderr, "Scheduler::delay() called outside main thread\n");
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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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call_delay_cb();
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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_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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hal.console->printf("Out of timer processes\n");
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return;
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}
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_timer_proc[_num_timer_procs] = proc;
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_num_timer_procs++;
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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(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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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::_timer_task()
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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(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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printf("Failed to take timer semaphore in %s\n", __PRETTY_FUNCTION__);
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return;
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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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_timer_semaphore.give();
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// and the failsafe, if one is setup
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if (_failsafe != nullptr) {
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_failsafe();
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}
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_in_timer_proc = false;
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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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#if HAL_WITH_UAVCAN
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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for (i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
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if(hal.can_mgr[i] != nullptr) {
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CANManager::from(hal.can_mgr[i])->_timer_tick();
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}
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}
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#endif
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#endif
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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(HAL_SEMAPHORE_BLOCK_FOREVER)) {
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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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/*
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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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hal.uartA->_timer_tick();
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hal.uartB->_timer_tick();
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hal.uartC->_timer_tick();
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hal.uartD->_timer_tick();
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hal.uartE->_timer_tick();
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hal.uartF->_timer_tick();
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}
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void Scheduler::_rcin_task()
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{
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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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void Scheduler::_uart_task()
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{
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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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void Scheduler::_tonealarm_task()
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{
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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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void Scheduler::_io_task()
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{
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// process any pending storage writes
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hal.storage->_timer_tick();
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// run registered IO processes
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_run_io();
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}
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bool Scheduler::in_main_thread() const
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{
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return pthread_equal(pthread_self(), _main_ctx);
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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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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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if (_sched._timer_thread.is_current_thread()) {
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/* make rpcmem initialization on timer thread */
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printf("Initialising rpcmem\n");
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rpcmem_init();
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}
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#endif
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_sched._wait_all_threads();
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return PeriodicThread::_run();
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}
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void Scheduler::teardown()
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{
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_timer_thread.stop();
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_io_thread.stop();
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_rcin_thread.stop();
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_uart_thread.stop();
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_tonealarm_thread.stop();
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_timer_thread.join();
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_io_thread.join();
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_rcin_thread.join();
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_uart_thread.join();
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_tonealarm_thread.join();
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}
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