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133 lines
3.6 KiB
133 lines
3.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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* main loop scheduler for APM |
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* Author: Andrew Tridgell, January 2013 |
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* |
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*/ |
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#ifndef AP_SCHEDULER_H |
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#define AP_SCHEDULER_H |
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#include <AP_Param/AP_Param.h> |
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#define AP_SCHEDULER_NAME_INITIALIZER(_name) .name = #_name, |
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/* |
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useful macro for creating scheduler task table |
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*/ |
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#define SCHED_TASK_CLASS(classname, classptr, func, _rate_hz, _max_time_micros) { \ |
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.function = FUNCTOR_BIND(classptr, &classname::func, void),\ |
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AP_SCHEDULER_NAME_INITIALIZER(func)\ |
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.rate_hz = _rate_hz,\ |
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.max_time_micros = _max_time_micros\ |
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} |
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/* |
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A task scheduler for APM main loops |
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Sketches should call scheduler.init() on startup, then call |
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scheduler.tick() at regular intervals (typically every 10ms). |
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To run tasks use scheduler.run(), passing the amount of time that |
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the scheduler is allowed to use before it must return |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Vehicle/AP_Vehicle.h> |
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class AP_Scheduler |
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{ |
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public: |
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// constructor |
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AP_Scheduler(void); |
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FUNCTOR_TYPEDEF(task_fn_t, void); |
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struct Task { |
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task_fn_t function; |
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const char *name; |
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float rate_hz; |
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uint16_t max_time_micros; |
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}; |
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// initialise scheduler |
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void init(const Task *tasks, uint8_t num_tasks); |
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// call when one tick has passed |
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void tick(void); |
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// run the tasks. Call this once per 'tick'. |
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// time_available is the amount of time available to run |
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// tasks in microseconds |
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void run(uint16_t time_available); |
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// return the number of microseconds available for the current task |
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uint16_t time_available_usec(void); |
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// return debug parameter |
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uint8_t debug(void) { return _debug; } |
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// return load average, as a number between 0 and 1. 1 means |
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// 100% load. Calculated from how much spare time we have at the |
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// end of a run() |
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float load_average(uint32_t tick_time_usec) const; |
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// get the configured main loop rate |
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uint16_t get_loop_rate_hz(void) const { |
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return _loop_rate_hz; |
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} |
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static const struct AP_Param::GroupInfo var_info[]; |
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// current running task, or -1 if none. Used to debug stuck tasks |
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static int8_t current_task; |
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private: |
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// used to enable scheduler debugging |
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AP_Int8 _debug; |
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// overall scheduling rate in Hz |
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AP_Int16 _loop_rate_hz; |
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// progmem list of tasks to run |
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const struct Task *_tasks; |
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// number of tasks in _tasks list |
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uint8_t _num_tasks; |
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// number of 'ticks' that have passed (number of times that |
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// tick() has been called |
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uint16_t _tick_counter; |
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// tick counter at the time we last ran each task |
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uint16_t *_last_run; |
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// number of microseconds allowed for the current task |
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uint32_t _task_time_allowed; |
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// the time in microseconds when the task started |
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uint32_t _task_time_started; |
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// number of spare microseconds accumulated |
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uint32_t _spare_micros; |
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// number of ticks that _spare_micros is counted over |
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uint8_t _spare_ticks; |
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}; |
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#endif // AP_SCHEDULER_H
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