AP_Scheduler Class Reference

#include <AP_Scheduler.h>

Collaboration diagram for AP_Scheduler:

Classes
struct	Task

Public Member Functions
	FUNCTOR_TYPEDEF (scheduler_fastloop_fn_t, void)
	AP_Scheduler (scheduler_fastloop_fn_t fastloop_fn=nullptr)
	AP_Scheduler (const AP_Scheduler &other)=delete
AP_Scheduler &	operator= (const AP_Scheduler &)=delete
	FUNCTOR_TYPEDEF (task_fn_t, void)
void	init (const Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit)
void	loop ()
void	update_logging ()
void	Log_Write_Performance ()
void	tick (void)
uint16_t	ticks () const
void	run (uint32_t time_available)
uint16_t	time_available_usec (void)
uint8_t	debug_flags (void)
float	load_average ()
uint16_t	get_loop_rate_hz (void)
uint32_t	get_loop_period_us ()
float	get_loop_period_s ()
float	get_filtered_loop_time (void) const
float	get_last_loop_time_s (void) const

Public Attributes
AP::PerfInfo	perf_info

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []
static int8_t	current_task = -1

Private Attributes
scheduler_fastloop_fn_t	_fastloop_fn
AP_Int8	_debug
AP_Int16	_loop_rate_hz
AP_Int16	_active_loop_rate_hz
uint16_t	_loop_period_us
float	_loop_period_s
const struct Task *	_tasks
uint8_t	_num_tasks
uint16_t	_tick_counter
uint16_t *	_last_run
uint32_t	_task_time_allowed
uint32_t	_task_time_started
uint32_t	_spare_micros
uint8_t	_spare_ticks
uint32_t	_loop_timer_start_us
float	_last_loop_time_s
AP_HAL::Util::perf_counter_t *	_perf_counters
uint32_t	_log_performance_bit

Detailed Description

Definition at line 53 of file AP_Scheduler.h.

Constructor & Destructor Documentation

AP_Scheduler() [1/2]

AP_Scheduler::AP_Scheduler

(

scheduler_fastloop_fn_t

fastloop_fn = nullptr

)

Definition at line 63 of file AP_Scheduler.cpp.

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AP_Scheduler() [2/2]

AP_Scheduler::AP_Scheduler ( const AP_Scheduler &  other )

delete

Member Function Documentation

debug_flags()

uint8_t AP_Scheduler::debug_flags ( void  )

inline

Definition at line 102 of file AP_Scheduler.h.

Referenced by update_logging().

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FUNCTOR_TYPEDEF() [1/2]

AP_Scheduler::FUNCTOR_TYPEDEF	(	scheduler_fastloop_fn_t	,
		void
	)

FUNCTOR_TYPEDEF() [2/2]

AP_Scheduler::FUNCTOR_TYPEDEF	(	task_fn_t	,
		void
	)

get_filtered_loop_time()

float AP_Scheduler::get_filtered_loop_time ( void  ) const

inline

Definition at line 131 of file AP_Scheduler.h.

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get_last_loop_time_s()

float AP_Scheduler::get_last_loop_time_s ( void  ) const

inline

Definition at line 136 of file AP_Scheduler.h.

get_loop_period_s()

float AP_Scheduler::get_loop_period_s ( )

inline

Definition at line 124 of file AP_Scheduler.h.

Referenced by loop().

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get_loop_period_us()

uint32_t AP_Scheduler::get_loop_period_us ( )

inline

Definition at line 117 of file AP_Scheduler.h.

Referenced by load_average(), and loop().

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get_loop_rate_hz()

uint16_t AP_Scheduler::get_loop_rate_hz ( void  )

inline

Definition at line 110 of file AP_Scheduler.h.

Referenced by init(), SchedTest::setup(), and update_logging().

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init()

void AP_Scheduler::init	(	const Task *	tasks,
		uint8_t	num_tasks,
		uint32_t	log_performance_bit
	)

Definition at line 78 of file AP_Scheduler.cpp.

Referenced by SchedTest::setup().

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load_average()

float AP_Scheduler::load_average

(

)

Definition at line 206 of file AP_Scheduler.cpp.

Referenced by debug_flags(), and Log_Write_Performance().

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Log_Write_Performance()

void AP_Scheduler::Log_Write_Performance

(

)

Definition at line 273 of file AP_Scheduler.cpp.

Referenced by update_logging().

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loop()

void AP_Scheduler::loop

(

void

)

Definition at line 216 of file AP_Scheduler.cpp.

Referenced by SchedTest::loop().

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operator=()

AP_Scheduler& AP_Scheduler::operator= ( const AP_Scheduler &  )

delete

run()

void AP_Scheduler::run

(

uint32_t

time_available

)

Definition at line 103 of file AP_Scheduler.cpp.

Referenced by loop(), and ticks().

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tick()

void AP_Scheduler::tick

(

void

)

Definition at line 94 of file AP_Scheduler.cpp.

Referenced by loop().

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ticks()

uint16_t AP_Scheduler::ticks ( ) const

inline

Definition at line 91 of file AP_Scheduler.h.

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time_available_usec()

uint16_t AP_Scheduler::time_available_usec

(

void

)

Definition at line 194 of file AP_Scheduler.cpp.

Referenced by ticks().

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update_logging()

void AP_Scheduler::update_logging

(

)

Definition at line 259 of file AP_Scheduler.cpp.

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Member Data Documentation

_active_loop_rate_hz

AP_Int16 AP_Scheduler::_active_loop_rate_hz

private

Definition at line 159 of file AP_Scheduler.h.

Referenced by get_loop_rate_hz().

_debug

AP_Int8 AP_Scheduler::_debug

private

Definition at line 153 of file AP_Scheduler.h.

Referenced by debug_flags(), and run().

_fastloop_fn

scheduler_fastloop_fn_t AP_Scheduler::_fastloop_fn

private

Definition at line 150 of file AP_Scheduler.h.

Referenced by loop().

_last_loop_time_s

float AP_Scheduler::_last_loop_time_s

private

Definition at line 196 of file AP_Scheduler.h.

Referenced by AP_Scheduler(), get_last_loop_time_s(), and loop().

_last_run

uint16_t* AP_Scheduler::_last_run

private

Definition at line 178 of file AP_Scheduler.h.

Referenced by init(), and run().

_log_performance_bit

uint32_t AP_Scheduler::_log_performance_bit

private

Definition at line 202 of file AP_Scheduler.h.

Referenced by init(), and update_logging().

_loop_period_s

float AP_Scheduler::_loop_period_s

private

Definition at line 165 of file AP_Scheduler.h.

Referenced by get_loop_period_s().

_loop_period_us

uint16_t AP_Scheduler::_loop_period_us

private

Definition at line 162 of file AP_Scheduler.h.

Referenced by get_loop_period_us().

_loop_rate_hz

AP_Int16 AP_Scheduler::_loop_rate_hz

private

Definition at line 156 of file AP_Scheduler.h.

Referenced by AP_Scheduler(), get_loop_period_s(), get_loop_period_us(), get_loop_rate_hz(), and run().

_loop_timer_start_us

uint32_t AP_Scheduler::_loop_timer_start_us

private

Definition at line 193 of file AP_Scheduler.h.

Referenced by loop().

_num_tasks

uint8_t AP_Scheduler::_num_tasks

private

Definition at line 171 of file AP_Scheduler.h.

Referenced by init(), and run().

_perf_counters

AP_HAL::Util::perf_counter_t* AP_Scheduler::_perf_counters

private

Definition at line 199 of file AP_Scheduler.h.

Referenced by run().

_spare_micros

uint32_t AP_Scheduler::_spare_micros

private

Definition at line 187 of file AP_Scheduler.h.

Referenced by load_average(), and run().

_spare_ticks

uint8_t AP_Scheduler::_spare_ticks

private

Definition at line 190 of file AP_Scheduler.h.

Referenced by load_average(), and run().

_task_time_allowed

uint32_t AP_Scheduler::_task_time_allowed

private

Definition at line 181 of file AP_Scheduler.h.

Referenced by run(), and time_available_usec().

_task_time_started

uint32_t AP_Scheduler::_task_time_started

private

Definition at line 184 of file AP_Scheduler.h.

Referenced by run(), and time_available_usec().

_tasks

const struct Task* AP_Scheduler::_tasks

private

Definition at line 168 of file AP_Scheduler.h.

Referenced by init(), and run().

_tick_counter

uint16_t AP_Scheduler::_tick_counter

private

Definition at line 175 of file AP_Scheduler.h.

Referenced by init(), run(), tick(), and ticks().

current_task

int8_t AP_Scheduler::current_task = -1

static

Definition at line 143 of file AP_Scheduler.h.

Referenced by VRBRAIN::VRBRAINScheduler::_timer_thread(), PX4::PX4Scheduler::_timer_thread(), and run().

perf_info

AP::PerfInfo AP_Scheduler::perf_info

Definition at line 146 of file AP_Scheduler.h.

Referenced by get_filtered_loop_time(), init(), Log_Write_Performance(), loop(), and update_logging().

var_info

const AP_Param::GroupInfo AP_Scheduler::var_info

static

Initial value:

= {
    
    
    
    
    
    AP_GROUPINFO("DEBUG",    0, AP_Scheduler, _debug, 0),

    
    
    
    
    
    
    AP_GROUPINFO("LOOP_RATE",  1, AP_Scheduler, _loop_rate_hz, SCHEDULER_DEFAULT_LOOP_RATE),

    AP_GROUPEND
}

Definition at line 140 of file AP_Scheduler.h.

Referenced by AP_Scheduler().

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The documentation for this class was generated from the following files:

• libraries/AP_Scheduler/AP_Scheduler.h
• libraries/AP_Scheduler/AP_Scheduler.cpp