From a228519b18a5e5fef1c1a74c0c953b35f0de6e6d Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@galois.com>
Date: Thu, 10 Jan 2013 13:50:32 -0800
Subject: [PATCH] AP_HAL_AVR_SITL: Implement new Scheduler methods

---
 libraries/AP_HAL_AVR_SITL/Scheduler.cpp | 16 ++++++++++++++++
 libraries/AP_HAL_AVR_SITL/Scheduler.h   |  8 ++++++++
 2 files changed, 24 insertions(+)

diff --git a/libraries/AP_HAL_AVR_SITL/Scheduler.cpp b/libraries/AP_HAL_AVR_SITL/Scheduler.cpp
index 62fa7ae6f4..03e60febcd 100644
--- a/libraries/AP_HAL_AVR_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_AVR_SITL/Scheduler.cpp
@@ -117,6 +117,22 @@ void SITLScheduler::resume_timer_procs() {
     }
 }
 
+bool SITLScheduler::in_timerprocess() {
+    return _in_timer_proc;
+}
+
+bool SITLScheduler::system_initializing() {
+    return !_initialized;
+}
+
+void SITLScheduler::system_initialized() {
+    if (_initialized) {
+        panic(
+            PSTR("PANIC: scheduler system initialized called more than once"));
+    }
+    _initialized = true;
+}
+
 void SITLScheduler::sitl_end_atomic() {
     if (_nested_atomic_ctr == 0) 
         hal.uartA->println_P(PSTR("NESTED ATOMIC ERROR"));
diff --git a/libraries/AP_HAL_AVR_SITL/Scheduler.h b/libraries/AP_HAL_AVR_SITL/Scheduler.h
index 4931ec862e..3efbf33a81 100644
--- a/libraries/AP_HAL_AVR_SITL/Scheduler.h
+++ b/libraries/AP_HAL_AVR_SITL/Scheduler.h
@@ -26,7 +26,13 @@ public:
     void     suspend_timer_procs();
     void     resume_timer_procs();
 
+    bool     in_timerprocess();
+
     void     register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
+
+    bool     system_initializing();
+    void     system_initialized();
+
     void     reboot();
     void     panic(const prog_char_t *errormsg);
 
@@ -54,6 +60,8 @@ private:
     static uint8_t _num_timer_procs;
     static bool    _in_timer_proc;
 
+    bool _initialized;
+
 };
 #endif
 #endif // __AP_HAL_SITL_SCHEDULER_H__