Sub: remove shims used in scheduler table

ArduSub/ArduSub.cpp

@@ -36,21 +36,23 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(three_hz_loop,          3,     75),
     SCHED_TASK(update_turn_counter,   10,     50),
     SCHED_TASK(compass_accumulate,   100,    100),
-    SCHED_TASK(barometer_accumulate,  50,     90),
-    SCHED_TASK(update_notify,         50,     90),
+    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(gcs_check_input,      400,    180),
     SCHED_TASK(gcs_send_heartbeat,     1,    110),
     SCHED_TASK(gcs_send_deferred,     50,    550),
     SCHED_TASK(gcs_data_stream_send,  50,    550),
-    SCHED_TASK(update_mount,          50,     75),
+#if MOUNT == ENABLED
+    SCHED_TASK_CLASS(AP_Mount,            &sub.camera_mount, update,              50,  75),
+#endif
 #if CAMERA == ENABLED
-    SCHED_TASK(update_trigger,        50,     75),
+    SCHED_TASK_CLASS(AP_Camera,           &sub.camera,       update_trigger,      50,  75),
 #endif
     SCHED_TASK(ten_hz_logging_loop,   10,    350),
     SCHED_TASK(twentyfive_hz_logging, 25,    110),
-    SCHED_TASK(dataflash_periodic,    400,    300),
-    SCHED_TASK(ins_periodic,          400,    50),
+    SCHED_TASK_CLASS(DataFlash_Class,     &sub.DataFlash,    periodic_tasks,     400, 300),
+    SCHED_TASK_CLASS(AP_InertialSensor,   &sub.ins,          periodic,           400,  50),
     SCHED_TASK(perf_update,           0.1,    75),
 #if RPM_ENABLED == ENABLED
     SCHED_TASK(rpm_update,            10,    200),
@@ -59,7 +61,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(accel_cal_update,      10,    100),
     SCHED_TASK(terrain_update,        10,    100),
 #if GRIPPER_ENABLED == ENABLED
-    SCHED_TASK(gripper_update,            10,     75),
+    SCHED_TASK_CLASS(AP_Gripper,          &g2.gripper,       update,              10,  75),
 #endif
 #ifdef USERHOOK_FASTLOOP
     SCHED_TASK(userhook_FastLoop,    100,     75),
@@ -209,31 +211,6 @@ void Sub::fifty_hz_loop()
     SRV_Channels::output_ch_all();
 }
 
-// updates the status of notify
-// should be called at 50hz
-void Sub::update_notify()
-{
-    notify.update();
-}
-
-// update_mount - update camera mount position
-// should be run at 50hz
-void Sub::update_mount()
-{
-#if MOUNT == ENABLED
-    // update camera mount's position
-    camera_mount.update();
-#endif
-}
-
-#if CAMERA == ENABLED
-// update camera trigger
-void Sub::update_trigger(void)
-{
-    camera.update_trigger();
-}
-#endif
-
 // update_batt_compass - read battery and compass
 // should be called at 10hz
 void Sub::update_batt_compass(void)
@@ -308,16 +285,6 @@ void Sub::twentyfive_hz_logging()
     }
 }
 
-void Sub::dataflash_periodic(void)
-{
-    DataFlash.periodic_tasks();
-}
-
-void Sub::ins_periodic()
-{
-    ins.periodic();
-}
-
 // three_hz_loop - 3.3hz loop
 void Sub::three_hz_loop()
 {

ArduSub/GCS_Mavlink.cpp

@@ -1241,7 +1241,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
                 mavlink_msg_command_ack_send_buf(msg, chan, packet.command, result);
 
                 AP_Notify::flags.firmware_update = 1;
-                sub.update_notify();
+                sub.notify.update();
                 hal.scheduler->delay(200);
                 // when packet.param1 == 3 we reboot to hold in bootloader
                 hal.scheduler->reboot(is_equal(packet.param1,3.0f));

ArduSub/Sub.h

@@ -464,7 +464,6 @@ private:
     void perf_update(void);
     void fast_loop();
     void fifty_hz_loop();
-    void update_mount();
     void update_batt_compass(void);
     void ten_hz_logging_loop();
     void twentyfive_hz_logging();
@@ -622,7 +621,6 @@ private:
     void update_surface_and_bottom_detector();
     void set_surfaced(bool at_surface);
     void set_bottomed(bool at_bottom);
-    void update_notify();
     bool init_arm_motors(bool arming_from_gcs);
     void init_disarm_motors();
     void motors_output();
@@ -640,7 +638,6 @@ private:
     void clear_input_hold();
     void init_barometer(bool save);
     void read_barometer(void);
-    void barometer_accumulate(void);
     void init_rangefinder(void);
     void read_rangefinder(void);
     bool rangefinder_alt_ok(void);
@@ -650,9 +647,6 @@ private:
     void update_optical_flow(void);
 #endif
     void read_battery(void);
-#if GRIPPER_ENABLED == ENABLED
-    void gripper_update();
-#endif
     void terrain_update();
     void terrain_logging();
     bool terrain_use();
@@ -690,7 +684,6 @@ private:
 #if CAMERA == ENABLED
     void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
     void do_digicam_control(const AP_Mission::Mission_Command& cmd);
-    void update_trigger();
 #endif
 
 #if GRIPPER_ENABLED == ENABLED
@@ -710,8 +703,6 @@ private:
     void auto_spline_start(const Location_Class& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location_Class& next_destination);
     void log_init(void);
     void init_capabilities(void);
-    void dataflash_periodic(void);
-    void ins_periodic();
     void accel_cal_update(void);
 
     void failsafe_leak_check();

ArduSub/motors.cpp

@@ -33,9 +33,9 @@ bool Sub::init_arm_motors(bool arming_from_gcs)
 
     // notify that arming will occur (we do this early to give plenty of warning)
     AP_Notify::flags.armed = true;
-    // call update_notify a few times to ensure the message gets out
+    // call notify update a few times to ensure the message gets out
     for (uint8_t i=0; i<=10; i++) {
-        update_notify();
+        notify.update();
     }
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

ArduSub/sensors.cpp

@@ -20,12 +20,6 @@ void Sub::read_barometer(void)
     }
 }
 
-// try to accumulate a baro reading
-void Sub::barometer_accumulate(void)
-{
-    barometer.accumulate();
-}
-
 void Sub::init_rangefinder(void)
 {
 #if RANGEFINDER_ENABLED == ENABLED
@@ -206,11 +200,3 @@ void Sub::accel_cal_update()
         ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
     }
 }
-
-#if GRIPPER_ENABLED == ENABLED
-// gripper update
-void Sub::gripper_update()
-{
-    g2.gripper.update();
-}
-#endif