AP_Scheduler: fixed example sketch

libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp

@@ -42,28 +42,41 @@
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-// INS declaration
-static AP_InertialSensor ins;
+class SchedTest {
+public:
+    void setup();
+    void loop();
 
-// loop scheduler object
-static AP_Scheduler scheduler;
+private:
 
-// counter for ins_update()
-static uint32_t ins_counter;
+    AP_InertialSensor ins;
+    AP_Scheduler scheduler;
+
+    uint32_t ins_counter;
+    static const AP_Scheduler::Task scheduler_tasks[];
+
+    void ins_update(void);
+    void one_hz_print(void);
+    void five_second_call(void);
+};
+
+static SchedTest schedtest;
+
+#define SCHED_TASK(func) FUNCTOR_BIND_VOID(&schedtest, &SchedTest::func, void)
 
 /*
   scheduler table - all regular tasks are listed here, along with how
   often they should be called (in 20ms units) and the maximum time
   they are expected to take (in microseconds)
  */
-static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
-    { ins_update,             1,   1000 },
-    { one_hz_print,          50,   1000 },
-    { five_second_call,     250,   1800 },
+const AP_Scheduler::Task SchedTest::scheduler_tasks[] PROGMEM = {
+    { SCHED_TASK(ins_update),             1,   1000 },
+    { SCHED_TASK(one_hz_print),          50,   1000 },
+    { SCHED_TASK(five_second_call),     250,   1800 },
 };
 
 
-void setup(void)
+void SchedTest::setup(void)
 {
     // we 
     ins.init(AP_InertialSensor::COLD_START, 
@@ -73,7 +86,7 @@ void setup(void)
     scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
 }
 
-void loop(void)
+void SchedTest::loop(void)
 {
     // wait for an INS sample
     ins.wait_for_sample();
@@ -88,7 +101,7 @@ void loop(void)
 /*
   update inertial sensor, reading data 
  */
-static void ins_update(void)
+void SchedTest::ins_update(void)
 {
     ins_counter++;
     ins.update();
@@ -97,7 +110,7 @@ static void ins_update(void)
 /*
   print something once a second
  */
-static void one_hz_print(void)
+void SchedTest::one_hz_print(void)
 {
     hal.console->printf("one_hz: t=%lu\n", hal.scheduler->millis());
 }
@@ -105,9 +118,23 @@ static void one_hz_print(void)
 /*
   print something every 5 seconds
  */
-static void five_second_call(void)
+void SchedTest::five_second_call(void)
 {
     hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", hal.scheduler->millis(), ins_counter);
 }
 
+/*
+  compatibility with old pde style build
+ */
+void setup(void);
+void loop(void);
+
+void setup(void)
+{
+    schedtest.setup();
+}
+void loop(void)
+{
+    schedtest.loop();
+}
 AP_HAL_MAIN();

libraries/AP_Scheduler/examples/Scheduler_test/make.inc

@@ -31,3 +31,4 @@ LIBRARIES += Filter
 LIBRARIES += GCS_MAVLink
 LIBRARIES += SITL
 LIBRARIES += StorageManager
+LIBRARIES += AP_OpticalFlow