HAL_Linux: update for new scheduler API

libraries/AP_HAL_Linux/I2CDriver.cpp

@@ -1,5 +1,7 @@
 
 #include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include "I2CDriver.h"
 
 #include <sys/types.h>
@@ -145,3 +147,4 @@ uint8_t LinuxI2CDriver::lockup_count()
 {
     return 0;
 }
+#endif // CONFIG_HAL_BOARD

libraries/AP_HAL_Linux/Scheduler.cpp

@@ -1,3 +1,6 @@
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
 #include "Scheduler.h"
 #include "Storage.h"
@@ -81,7 +84,7 @@ void LinuxScheduler::register_delay_callback(AP_HAL::Proc proc,
     _min_delay_cb_ms = min_time_ms;
 }
 
-void LinuxScheduler::register_timer_process(AP_HAL::TimedProc proc) 
+void LinuxScheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg) 
 {
     for (uint8_t i = 0; i < _num_timer_procs; i++) {
         if (_timer_proc[i] == proc) {
@@ -91,13 +94,14 @@ void LinuxScheduler::register_timer_process(AP_HAL::TimedProc proc)
 
     if (_num_timer_procs < LINUX_SCHEDULER_MAX_TIMER_PROCS) {
         _timer_proc[_num_timer_procs] = proc;
+        _timer_arg[_num_timer_procs] = arg;
         _num_timer_procs++;
     } else {
         hal.console->printf("Out of timer processes\n");
     }
 }
 
-void LinuxScheduler::register_io_process(AP_HAL::TimedProc proc) 
+void LinuxScheduler::register_io_process(AP_HAL::TimedProc proc, void *arg) 
 {
     for (uint8_t i = 0; i < _num_io_procs; i++) {
         if (_io_proc[i] == proc) {
@@ -107,6 +111,7 @@ void LinuxScheduler::register_io_process(AP_HAL::TimedProc proc)
 
     if (_num_io_procs < LINUX_SCHEDULER_MAX_TIMER_PROCS) {
         _io_proc[_num_io_procs] = proc;
+        _io_arg[_num_io_procs] = arg;
         _num_io_procs++;
     } else {
         hal.console->printf("Out of IO processes\n");
@@ -145,7 +150,7 @@ void LinuxScheduler::_run_timers(bool called_from_timer_thread)
         // now call the timer based drivers
         for (int i = 0; i < _num_timer_procs; i++) {
             if (_timer_proc[i] != NULL) {
-                _timer_proc[i](tnow);
+                _timer_proc[i](_timer_arg[i]);
             }
         }
     } else if (called_from_timer_thread) {
@@ -154,7 +159,7 @@ void LinuxScheduler::_run_timers(bool called_from_timer_thread)
 
     // and the failsafe, if one is setup
     if (_failsafe != NULL) {
-        _failsafe(tnow);
+        _failsafe(NULL);
     }
 
     _in_timer_proc = false;
@@ -184,7 +189,7 @@ void LinuxScheduler::_run_io(void)
         // now call the IO based drivers
         for (int i = 0; i < _num_io_procs; i++) {
             if (_io_proc[i] != NULL) {
-                _io_proc[i](tnow);
+                _io_proc[i](_io_arg[i]);
             }
         }
     }
@@ -251,3 +256,5 @@ void LinuxScheduler::reboot(bool hold_in_bootloader)
 {
     for(;;);
 }
+
+#endif // CONFIG_HAL_BOARD

libraries/AP_HAL_Linux/Scheduler.h

@@ -3,6 +3,8 @@
 #define __AP_HAL_LINUX_SCHEDULER_H__
 
 #include <AP_HAL_Linux.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include <sys/time.h>
 #include <pthread.h>
 
@@ -24,8 +26,8 @@ public:
     void     register_delay_callback(AP_HAL::Proc,
                 uint16_t min_time_ms);
 
-    void     register_timer_process(AP_HAL::TimedProc);
+    void     register_timer_process(AP_HAL::TimedProc, void *arg);
-    void     register_io_process(AP_HAL::TimedProc);
+    void     register_io_process(AP_HAL::TimedProc, void *arg);
     void     suspend_timer_procs();
     void     resume_timer_procs();
 
@@ -58,10 +60,12 @@ private:
     volatile bool _timer_suspended;
 
     AP_HAL::TimedProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
+    void * _timer_arg[LINUX_SCHEDULER_MAX_TIMER_PROCS];
     uint8_t _num_timer_procs;
     volatile bool _in_timer_proc;
 
     AP_HAL::TimedProc _io_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
+    void * _io_arg[LINUX_SCHEDULER_MAX_TIMER_PROCS];
     uint8_t _num_io_procs;
     volatile bool _in_io_proc;
 
@@ -79,4 +83,6 @@ private:
     void _run_io(void);
 };
 
+#endif // CONFIG_HAL_BOARD
+
 #endif // __AP_HAL_LINUX_SCHEDULER_H__

libraries/AP_HAL_Linux/UARTDriver.cpp

@@ -1,3 +1,7 @@
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+
 #include "UARTDriver.h"
 
 #include <stdio.h>
@@ -172,3 +176,5 @@ size_t LinuxUARTDriver::write(uint8_t c)
     }
     return 0;
 }
+
+#endif // CONFIG_HAL_BOARD