2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
145 lines
3.4 KiB
C++
145 lines
3.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// Simple test for the AP_Scheduler interface
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//
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_ADC/AP_ADC.h>
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#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Declination/AP_Declination.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Baro/AP_Baro.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_Mission/AP_Mission.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <Filter/Filter.h>
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#include <SITL/SITL.h>
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#include <AP_Buffer/AP_Buffer.h>
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#include <AP_Notify/AP_Notify.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <DataFlash/DataFlash.h>
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#include <AP_NavEKF/AP_NavEKF.h>
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#include <AP_Rally/AP_Rally.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_HAL_AVR/AP_HAL_AVR.h>
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#include <AP_HAL_SITL/AP_HAL_SITL.h>
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_HAL_PX4/AP_HAL_PX4.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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class SchedTest {
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public:
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void setup();
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void loop();
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private:
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AP_InertialSensor ins;
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AP_Scheduler scheduler;
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uint32_t ins_counter;
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static const AP_Scheduler::Task scheduler_tasks[];
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void ins_update(void);
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void one_hz_print(void);
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void five_second_call(void);
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};
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static SchedTest schedtest;
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#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
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.function = FUNCTOR_BIND(&schedtest, &SchedTest::func, void),\
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AP_SCHEDULER_NAME_INITIALIZER(func)\
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.interval_ticks = _interval_ticks,\
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.max_time_micros = _max_time_micros,\
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}
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/*
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scheduler table - all regular tasks are listed here, along with how
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often they should be called (in 20ms units) and the maximum time
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they are expected to take (in microseconds)
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*/
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const AP_Scheduler::Task SchedTest::scheduler_tasks[] PROGMEM = {
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SCHED_TASK(ins_update, 1, 1000),
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SCHED_TASK(one_hz_print, 50, 1000),
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SCHED_TASK(five_second_call, 250, 1800),
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};
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void SchedTest::setup(void)
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{
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// we
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ins.init(AP_InertialSensor::RATE_50HZ);
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// initialise the scheduler
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scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
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}
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void SchedTest::loop(void)
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{
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// wait for an INS sample
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ins.wait_for_sample();
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// tell the scheduler one tick has passed
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scheduler.tick();
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// run all tasks that fit in 20ms
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scheduler.run(20000);
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}
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/*
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update inertial sensor, reading data
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*/
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void SchedTest::ins_update(void)
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{
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ins_counter++;
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ins.update();
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}
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/*
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print something once a second
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*/
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void SchedTest::one_hz_print(void)
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{
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hal.console->printf("one_hz: t=%lu\n", (unsigned long)hal.scheduler->millis());
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}
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/*
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print something every 5 seconds
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*/
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void SchedTest::five_second_call(void)
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{
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hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", (unsigned long)hal.scheduler->millis(), ins_counter);
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}
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/*
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compatibility with old pde style build
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*/
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void setup(void);
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void loop(void);
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void setup(void)
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{
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schedtest.setup();
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}
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void loop(void)
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{
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schedtest.loop();
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}
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AP_HAL_MAIN();
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