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37 lines
688 B
37 lines
688 B
#include "Scheduler.h" |
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#include "AP_HAL.h" |
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using namespace AP_HAL; |
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extern const AP_HAL::HAL& hal; |
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void Scheduler::register_delay_callback(AP_HAL::Proc proc, |
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uint16_t min_time_ms) |
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{ |
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_delay_cb = proc; |
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_min_delay_cb_ms = min_time_ms; |
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} |
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void Scheduler::call_delay_cb() |
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{ |
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if (_delay_cb == nullptr) { |
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return; |
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} |
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if (_in_delay_callback) { |
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// don't recurse! |
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return; |
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} |
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_in_delay_callback = true; |
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_delay_cb(); |
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_in_delay_callback = false; |
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} |
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ExpectDelay::ExpectDelay(uint32_t ms) |
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{ |
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hal.scheduler->expect_delay_ms(ms); |
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} |
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ExpectDelay::~ExpectDelay() |
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{ |
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hal.scheduler->expect_delay_ms(0); |
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}
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