mirror of https://github.com/ArduPilot/ardupilot
231 lines
5.4 KiB
C++
231 lines
5.4 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_HAL_SITL.h"
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#include "Scheduler.h"
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#include "UARTDriver.h"
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#include <sys/time.h>
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#include <unistd.h>
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#include <fenv.h>
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using namespace HALSITL;
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extern const AP_HAL::HAL& hal;
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AP_HAL::Proc Scheduler::_failsafe = nullptr;
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volatile bool Scheduler::_timer_suspended = false;
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volatile bool Scheduler::_timer_event_missed = false;
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AP_HAL::MemberProc Scheduler::_timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
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uint8_t Scheduler::_num_timer_procs = 0;
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bool Scheduler::_in_timer_proc = false;
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AP_HAL::MemberProc Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
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uint8_t Scheduler::_num_io_procs = 0;
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bool Scheduler::_in_io_proc = false;
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Scheduler::Scheduler(SITL_State *sitlState) :
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_sitlState(sitlState),
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_stopped_clock_usec(0)
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{
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}
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void Scheduler::init()
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{
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}
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void Scheduler::delay_microseconds(uint16_t usec)
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{
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uint64_t start = AP_HAL::micros64();
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do {
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uint64_t dtime = AP_HAL::micros64() - start;
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if (dtime >= usec) {
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break;
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}
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if (_stopped_clock_usec) {
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_sitlState->wait_clock(start + usec);
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} else {
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usleep(usec - dtime);
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}
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} while (true);
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}
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void Scheduler::delay(uint16_t ms)
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{
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while (ms > 0) {
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delay_microseconds(1000);
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ms--;
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if (_min_delay_cb_ms <= ms) {
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if (_delay_cb) {
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_delay_cb();
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}
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}
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}
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}
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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::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 < SITL_SCHEDULER_MAX_TIMER_PROCS) {
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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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}
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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 < SITL_SCHEDULER_MAX_TIMER_PROCS) {
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_io_proc[_num_io_procs] = proc;
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_num_io_procs++;
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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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_timer_suspended = true;
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}
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void Scheduler::resume_timer_procs() {
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_timer_suspended = false;
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if (_timer_event_missed) {
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_timer_event_missed = false;
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_run_timer_procs(false);
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}
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}
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bool Scheduler::in_timerprocess() {
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return _in_timer_proc || _in_io_proc;
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}
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void Scheduler::system_initialized() {
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if (_initialized) {
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AP_HAL::panic(
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"PANIC: scheduler system initialized called more than once");
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}
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int exceptions = FE_OVERFLOW | FE_DIVBYZERO;
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#ifndef __i386__
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// i386 with gcc doesn't work with FE_INVALID
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exceptions |= FE_INVALID;
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#endif
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if (_sitlState->_sitl == nullptr || _sitlState->_sitl->float_exception) {
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feenableexcept(exceptions);
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} else {
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feclearexcept(exceptions);
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}
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_initialized = true;
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}
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void Scheduler::sitl_end_atomic() {
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if (_nested_atomic_ctr == 0)
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hal.uartA->println("NESTED ATOMIC ERROR");
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else
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_nested_atomic_ctr--;
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}
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void Scheduler::reboot(bool hold_in_bootloader)
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{
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hal.uartA->println("REBOOT NOT IMPLEMENTED\r\n");
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}
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void Scheduler::_run_timer_procs(bool called_from_isr)
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{
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if (_in_timer_proc) {
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// the timer calls took longer than the period of the
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// timer. This is bad, and may indicate a serious
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// driver failure. We can't just call the drivers
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// again, as we could run out of stack. So we only
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// call the _failsafe call. It's job is to detect if
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// the drivers or the main loop are indeed dead and to
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// activate whatever failsafe it thinks may help if
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// need be. We assume the failsafe code can't
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// block. If it does then we will recurse and die when
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// we run out of stack
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if (_failsafe != nullptr) {
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_failsafe();
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}
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return;
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}
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_in_timer_proc = true;
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if (!_timer_suspended) {
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// now call the timer based drivers
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for (int 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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} else if (called_from_isr) {
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_timer_event_missed = true;
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}
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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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}
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void Scheduler::_run_io_procs(bool called_from_isr)
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{
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if (_in_io_proc) {
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return;
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}
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_in_io_proc = true;
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if (!_timer_suspended) {
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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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} else if (called_from_isr) {
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_timer_event_missed = true;
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}
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_in_io_proc = false;
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UARTDriver::from(hal.uartA)->_timer_tick();
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UARTDriver::from(hal.uartB)->_timer_tick();
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UARTDriver::from(hal.uartC)->_timer_tick();
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UARTDriver::from(hal.uartD)->_timer_tick();
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UARTDriver::from(hal.uartE)->_timer_tick();
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}
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/*
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set simulation timestamp
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*/
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void Scheduler::stop_clock(uint64_t time_usec)
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{
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_stopped_clock_usec = time_usec;
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_run_io_procs(false);
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}
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#endif
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