73 lines
1.6 KiB
C++
73 lines
1.6 KiB
C++
#include "AP_Vehicle.h"
|
|
|
|
#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros)
|
|
|
|
/*
|
|
2nd group of parameters
|
|
*/
|
|
const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
|
|
#if HAL_RUNCAM_ENABLED
|
|
// @Group: CAM_RC_
|
|
// @Path: ../AP_Camera/AP_RunCam.cpp
|
|
AP_SUBGROUPINFO(runcam, "CAM_RC_", 1, AP_Vehicle, AP_RunCam),
|
|
#endif
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
// reference to the vehicle. using AP::vehicle() here does not work on clang
|
|
#if APM_BUILD_TYPE(APM_BUILD_Replay) || APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
|
|
AP_Vehicle& vehicle = *AP_Vehicle::get_singleton();
|
|
#else
|
|
extern AP_Vehicle& vehicle;
|
|
#endif
|
|
|
|
/*
|
|
common scheduler table for fast CPUs - all common vehicle tasks
|
|
should be listed here, along with how often they should be called (in hz)
|
|
and the maximum time they are expected to take (in microseconds)
|
|
*/
|
|
const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
|
|
#if HAL_RUNCAM_ENABLED
|
|
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50),
|
|
#endif
|
|
};
|
|
|
|
void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks)
|
|
{
|
|
tasks = scheduler_tasks;
|
|
num_tasks = ARRAY_SIZE(scheduler_tasks);
|
|
}
|
|
|
|
// initialize the vehicle
|
|
void AP_Vehicle::init_vehicle()
|
|
{
|
|
if (init_done) {
|
|
return;
|
|
}
|
|
init_done = true;
|
|
#if HAL_RUNCAM_ENABLED
|
|
runcam.init();
|
|
#endif
|
|
#if HAL_HOTT_TELEM_ENABLED
|
|
hott_telem.init();
|
|
#endif
|
|
}
|
|
|
|
AP_Vehicle *AP_Vehicle::_singleton = nullptr;
|
|
|
|
AP_Vehicle *AP_Vehicle::get_singleton()
|
|
{
|
|
return _singleton;
|
|
}
|
|
|
|
namespace AP {
|
|
|
|
AP_Vehicle *vehicle()
|
|
{
|
|
return AP_Vehicle::get_singleton();
|
|
}
|
|
|
|
};
|
|
|