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ArduSub: allow specification of Scheduler table priorities

gps-1.3.1
Peter Barker 3 years ago committed by Andrew Tridgell
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17395f362e
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422bb3cfbb
1 changed files with 56 additions and 35 deletions
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  1. 91
      ArduSub/ArduSub.cpp

91
ArduSub/ArduSub.cpp
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@ -17,67 +17,88 @@ @@ -17,67 +17,88 @@
#include "Sub.h"
#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Sub, &sub, func, rate_hz, max_time_micros)
#define SCHED_TASK(func, rate_hz, max_time_micros, priority) SCHED_TASK_CLASS(Sub, &sub, func, rate_hz, max_time_micros, priority)
/*
scheduler table for fast CPUs - all regular tasks apart from the fast_loop()
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)
scheduler table - all regular tasks apart from the fast_loop()
should be listed here.
All entries in this table must be ordered by priority.
This table is interleaved with the table in AP_Vehicle to determine
the order in which tasks are run. Convenience methods SCHED_TASK
and SCHED_TASK_CLASS are provided to build entries in this structure:
SCHED_TASK arguments:
- name of static function to call
- rate (in Hertz) at which the function should be called
- expected time (in MicroSeconds) that the function should take to run
- priority (0 through 255, lower number meaning higher priority)
SCHED_TASK_CLASS arguments:
- class name of method to be called
- instance on which to call the method
- method to call on that instance
- rate (in Hertz) at which the method should be called
- expected time (in MicroSeconds) that the method should take to run
- priority (0 through 255, lower number meaning higher priority)
*/
const AP_Scheduler::Task Sub::scheduler_tasks[] = {
SCHED_TASK(fifty_hz_loop, 50, 75),
SCHED_TASK_CLASS(AP_GPS, &sub.gps, update, 50, 200),
SCHED_TASK(fifty_hz_loop, 50, 75, 3),
SCHED_TASK_CLASS(AP_GPS, &sub.gps, update, 50, 200, 6),
#if OPTFLOW == ENABLED
SCHED_TASK_CLASS(OpticalFlow, &sub.optflow, update, 200, 160),
SCHED_TASK_CLASS(OpticalFlow, &sub.optflow, update, 200, 160, 9),
#endif
SCHED_TASK(update_batt_compass, 10, 120),
SCHED_TASK(read_rangefinder, 20, 100),
SCHED_TASK(update_altitude, 10, 100),
SCHED_TASK(three_hz_loop, 3, 75),
SCHED_TASK(update_turn_counter, 10, 50),
SCHED_TASK_CLASS(AP_Baro, &sub.barometer, accumulate, 50, 90),
SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90),
SCHED_TASK(one_hz_loop, 1, 100),
SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_receive, 400, 180),
SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_send, 400, 550),
SCHED_TASK(update_batt_compass, 10, 120, 12),
SCHED_TASK(read_rangefinder, 20, 100, 15),
SCHED_TASK(update_altitude, 10, 100, 18),
SCHED_TASK(three_hz_loop, 3, 75, 21),
SCHED_TASK(update_turn_counter, 10, 50, 24),
SCHED_TASK_CLASS(AP_Baro, &sub.barometer, accumulate, 50, 90, 27),
SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90, 30),
SCHED_TASK(one_hz_loop, 1, 100, 33),
SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_receive, 400, 180, 36),
SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_send, 400, 550, 39),
#if AC_FENCE == ENABLED
SCHED_TASK_CLASS(AC_Fence, &sub.fence, update, 10, 100),
SCHED_TASK_CLASS(AC_Fence, &sub.fence, update, 10, 100, 42),
#endif
#if HAL_MOUNT_ENABLED
SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75),
SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75, 45),
#endif
#if CAMERA == ENABLED
SCHED_TASK_CLASS(AP_Camera, &sub.camera, update, 50, 75),
SCHED_TASK_CLASS(AP_Camera, &sub.camera, update, 50, 75, 48),
#endif
SCHED_TASK(ten_hz_logging_loop, 10, 350),
SCHED_TASK(twentyfive_hz_logging, 25, 110),
SCHED_TASK_CLASS(AP_Logger, &sub.logger, periodic_tasks, 400, 300),
SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50),
SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75),
SCHED_TASK(ten_hz_logging_loop, 10, 350, 51),
SCHED_TASK(twentyfive_hz_logging, 25, 110, 54),
SCHED_TASK_CLASS(AP_Logger, &sub.logger, periodic_tasks, 400, 300, 57),
SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50, 60),
SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75, 63),
#if RPM_ENABLED == ENABLED
SCHED_TASK(rpm_update, 10, 200),
SCHED_TASK(rpm_update, 10, 200, 66),
#endif
SCHED_TASK_CLASS(Compass, &sub.compass, cal_update, 100, 100),
SCHED_TASK(terrain_update, 10, 100),
SCHED_TASK_CLASS(Compass, &sub.compass, cal_update, 100, 100, 69),
SCHED_TASK(terrain_update, 10, 100, 72),
#if GRIPPER_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Gripper, &sub.g2.gripper, update, 10, 75),
SCHED_TASK_CLASS(AP_Gripper, &sub.g2.gripper, update, 10, 75, 75),
#endif
#ifdef USERHOOK_FASTLOOP
SCHED_TASK(userhook_FastLoop, 100, 75),
SCHED_TASK(userhook_FastLoop, 100, 75, 78),
#endif
#ifdef USERHOOK_50HZLOOP
SCHED_TASK(userhook_50Hz, 50, 75),
SCHED_TASK(userhook_50Hz, 50, 75, 81),
#endif
#ifdef USERHOOK_MEDIUMLOOP
SCHED_TASK(userhook_MediumLoop, 10, 75),
SCHED_TASK(userhook_MediumLoop, 10, 75, 84),
#endif
#ifdef USERHOOK_SLOWLOOP
SCHED_TASK(userhook_SlowLoop, 3.3, 75),
SCHED_TASK(userhook_SlowLoop, 3.3, 75, 87),
#endif
#ifdef USERHOOK_SUPERSLOWLOOP
SCHED_TASK(userhook_SuperSlowLoop, 1, 75),
SCHED_TASK(userhook_SuperSlowLoop, 1, 75, 90),
#endif
SCHED_TASK(read_airspeed, 10, 100),
SCHED_TASK(read_airspeed, 10, 100, 93),
};
void Sub::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,

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