#include <Scheduler.h>

Inheritance diagram for HALSITL::Scheduler:

Collaboration diagram for HALSITL::Scheduler:

Public Member Functions
	Scheduler (SITL_State *sitlState)

void	init ()

void	delay (uint16_t ms)

void	delay_microseconds (uint16_t us)

void	register_timer_process (AP_HAL::MemberProc)

void	register_io_process (AP_HAL::MemberProc)

void	suspend_timer_procs ()

void	resume_timer_procs ()

void	register_timer_failsafe (AP_HAL::Proc, uint32_t period_us)

bool	in_main_thread () const override

void	system_initialized ()

void	reboot (bool hold_in_bootloader)

bool	interrupts_are_blocked (void)

void	sitl_begin_atomic ()

void	sitl_end_atomic ()

uint64_t	stopped_clock_usec () const

Public Member Functions inherited from AP_HAL::Scheduler
	Scheduler ()

virtual void	delay_microseconds_boost (uint16_t us)

virtual void	boost_end (void)

virtual void	register_delay_callback (AP_HAL::Proc, uint16_t min_time_ms)

virtual bool	in_delay_callback () const

virtual void	create_uavcan_thread ()

virtual void *	disable_interrupts_save (void)

virtual void	restore_interrupts (void *)

virtual void	call_delay_cb ()

Static Public Member Functions
static Scheduler *	from (AP_HAL::Scheduler *scheduler)

static void	timer_event ()

static void	_run_io_procs (bool called_from_isr)

Static Public Attributes
static bool	_should_reboot = false

Private Member Functions
void	stop_clock (uint64_t time_usec)

Static Private Member Functions
static void	_run_timer_procs (bool called_from_isr)

Private Attributes
SITL_State *	_sitlState

uint8_t	_nested_atomic_ctr

bool	_initialized

uint64_t	_stopped_clock_usec

uint64_t	_last_io_run

Static Private Attributes
static AP_HAL::Proc	_failsafe

static volatile bool	_timer_suspended

static volatile bool	_timer_event_missed

static AP_HAL::MemberProc	_timer_proc [SITL_SCHEDULER_MAX_TIMER_PROCS]

static AP_HAL::MemberProc	_io_proc [SITL_SCHEDULER_MAX_TIMER_PROCS]

static uint8_t	_num_timer_procs

static uint8_t	_num_io_procs

static bool	_in_timer_proc

static bool	_in_io_proc

Additional Inherited Members
Public Attributes inherited from AP_HAL::Scheduler
uint16_t	_min_delay_cb_ms

Detailed Description

Definition at line 11 of file Scheduler.h.

Constructor & Destructor Documentation

◆ Scheduler()

Scheduler::Scheduler ( SITL_State * sitlState )

explicit

Definition at line 28 of file Scheduler.cpp.

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Member Function Documentation

◆ _run_io_procs()

void Scheduler::_run_io_procs ( bool called_from_isr )

static

Definition at line 176 of file Scheduler.cpp.

Referenced by HAL_SITL::run(), stop_clock(), stopped_clock_usec(), and timer_event().

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◆ _run_timer_procs()

static void HALSITL::Scheduler::_run_timer_procs ( bool called_from_isr )

staticprivate

Referenced by Scheduler(), sitl_end_atomic(), and timer_event().

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◆ delay()

void HALSITL::Scheduler::delay ( uint16_t ms )

virtual

Implements AP_HAL::Scheduler.

Referenced by from(), and Scheduler().

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◆ delay_microseconds()

void HALSITL::Scheduler::delay_microseconds ( uint16_t us )

virtual

Implements AP_HAL::Scheduler.

Referenced by from(), and Scheduler().

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◆ from()

static Scheduler* HALSITL::Scheduler::from ( AP_HAL::Scheduler * scheduler )

inlinestatic

Definition at line 14 of file Scheduler.h.

Referenced by HALSITL::SITL_State::init().

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◆ in_main_thread()

bool HALSITL::Scheduler::in_main_thread ( ) const

inlineoverridevirtual

Implements AP_HAL::Scheduler.

Definition at line 31 of file Scheduler.h.

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◆ init()

void HALSITL::Scheduler::init ( )

virtual

Implements AP_HAL::Scheduler.

Referenced by from(), and Scheduler().

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◆ interrupts_are_blocked()

bool HALSITL::Scheduler::interrupts_are_blocked ( void )

inline

Definition at line 36 of file Scheduler.h.

Referenced by HALSITL::SITL_State::_fdm_input_step().

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◆ reboot()

void HALSITL::Scheduler::reboot ( bool hold_in_bootloader )

virtual

Implements AP_HAL::Scheduler.

Referenced by in_main_thread(), and sitl_end_atomic().

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◆ register_io_process()

void HALSITL::Scheduler::register_io_process ( AP_HAL::MemberProc )

virtual

Implements AP_HAL::Scheduler.

Referenced by from(), and Scheduler().

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◆ register_timer_failsafe()

void HALSITL::Scheduler::register_timer_failsafe	(	AP_HAL::Proc	,
		uint32_t	period_us
	)

virtual

Implements AP_HAL::Scheduler.

Referenced by from(), and Scheduler().

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◆ register_timer_process()

void HALSITL::Scheduler::register_timer_process ( AP_HAL::MemberProc )

virtual

Implements AP_HAL::Scheduler.

Referenced by from(), and Scheduler().

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◆ resume_timer_procs()

void HALSITL::Scheduler::resume_timer_procs ( )

virtual

Implements AP_HAL::Scheduler.

Referenced by from(), and Scheduler().

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◆ sitl_begin_atomic()

void HALSITL::Scheduler::sitl_begin_atomic ( )

inline

Definition at line 40 of file Scheduler.h.

Referenced by HALSITL::SITL_State::_fdm_input_step().

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◆ sitl_end_atomic()

void Scheduler::sitl_end_atomic ( )

Definition at line 124 of file Scheduler.cpp.

Referenced by HALSITL::SITL_State::_fdm_input_step(), and sitl_begin_atomic().

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◆ stop_clock()

void Scheduler::stop_clock ( uint64_t time_usec )

privatevirtual

optional function to stop clock at a given time, used by log replay

Reimplemented from AP_HAL::Scheduler.

Definition at line 207 of file Scheduler.cpp.

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◆ stopped_clock_usec()

uint64_t HALSITL::Scheduler::stopped_clock_usec ( ) const

inline

Definition at line 50 of file Scheduler.h.

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◆ suspend_timer_procs()

void HALSITL::Scheduler::suspend_timer_procs ( )

virtual

Implements AP_HAL::Scheduler.

Referenced by from(), and Scheduler().

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◆ system_initialized()

void HALSITL::Scheduler::system_initialized ( )

virtual

Implements AP_HAL::Scheduler.

Referenced by in_main_thread(), and Scheduler().

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◆ timer_event()

static void HALSITL::Scheduler::timer_event ( )

inlinestatic

Definition at line 45 of file Scheduler.h.

Referenced by HALSITL::SITL_State::_fdm_input_step().

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Member Data Documentation

◆ _failsafe

AP_HAL::Proc HALSITL::Scheduler::_failsafe

staticprivate

Definition at line 58 of file Scheduler.h.

Referenced by Scheduler(), and sitl_end_atomic().

◆ _in_io_proc

bool HALSITL::Scheduler::_in_io_proc

staticprivate

Definition at line 69 of file Scheduler.h.

Referenced by _run_io_procs(), and in_main_thread().

◆ _in_timer_proc

bool HALSITL::Scheduler::_in_timer_proc

staticprivate

Definition at line 68 of file Scheduler.h.

Referenced by in_main_thread(), and sitl_end_atomic().

◆ _initialized

bool HALSITL::Scheduler::_initialized

private

Definition at line 73 of file Scheduler.h.

Referenced by Scheduler().

◆ _io_proc

AP_HAL::MemberProc HALSITL::Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS]

staticprivate

Definition at line 65 of file Scheduler.h.

Referenced by _run_io_procs(), and Scheduler().

◆ _last_io_run

uint64_t HALSITL::Scheduler::_last_io_run

private

Definition at line 75 of file Scheduler.h.

Referenced by stop_clock().

◆ _nested_atomic_ctr

uint8_t HALSITL::Scheduler::_nested_atomic_ctr

private

Definition at line 57 of file Scheduler.h.

Referenced by interrupts_are_blocked(), sitl_begin_atomic(), and sitl_end_atomic().

◆ _num_io_procs

uint8_t HALSITL::Scheduler::_num_io_procs

staticprivate

Definition at line 67 of file Scheduler.h.

Referenced by _run_io_procs(), and Scheduler().

◆ _num_timer_procs

uint8_t HALSITL::Scheduler::_num_timer_procs

staticprivate

Definition at line 66 of file Scheduler.h.

Referenced by Scheduler(), and sitl_end_atomic().

◆ _should_reboot

bool Scheduler::_should_reboot = false

static

Definition at line 53 of file Scheduler.h.

Referenced by HAL_SITL::run(), and sitl_end_atomic().

◆ _sitlState

SITL_State* HALSITL::Scheduler::_sitlState

private

Definition at line 56 of file Scheduler.h.

Referenced by Scheduler().

◆ _stopped_clock_usec

uint64_t HALSITL::Scheduler::_stopped_clock_usec

private

Definition at line 74 of file Scheduler.h.

Referenced by stop_clock(), and stopped_clock_usec().

◆ _timer_event_missed

volatile bool HALSITL::Scheduler::_timer_event_missed

staticprivate

Definition at line 63 of file Scheduler.h.

Referenced by _run_io_procs(), Scheduler(), and sitl_end_atomic().

◆ _timer_proc

AP_HAL::MemberProc HALSITL::Scheduler::_timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS]

staticprivate

Definition at line 64 of file Scheduler.h.

Referenced by Scheduler(), and sitl_end_atomic().

◆ _timer_suspended

volatile bool HALSITL::Scheduler::_timer_suspended

staticprivate

Definition at line 62 of file Scheduler.h.

Referenced by _run_io_procs(), Scheduler(), and sitl_end_atomic().

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

libraries/AP_HAL_SITL/Scheduler.h
libraries/AP_HAL_SITL/Scheduler.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Scheduler()

Member Function Documentation

◆ _run_io_procs()

◆ _run_timer_procs()

◆ delay()

◆ delay_microseconds()

◆ from()

◆ in_main_thread()

◆ init()

◆ interrupts_are_blocked()

◆ reboot()

◆ register_io_process()

◆ register_timer_failsafe()

◆ register_timer_process()

◆ resume_timer_procs()

◆ sitl_begin_atomic()

◆ sitl_end_atomic()

◆ stop_clock()

◆ stopped_clock_usec()

◆ suspend_timer_procs()

◆ system_initialized()

◆ timer_event()

Member Data Documentation

◆ _failsafe

◆ _in_io_proc

◆ _in_timer_proc

◆ _initialized

◆ _io_proc

◆ _last_io_run

◆ _nested_atomic_ctr

◆ _num_io_procs

◆ _num_timer_procs

◆ _should_reboot

◆ _sitlState

◆ _stopped_clock_usec

◆ _timer_event_missed

◆ _timer_proc

◆ _timer_suspended