#include <Scheduler.h>

Inheritance diagram for Linux::Scheduler:

Collaboration diagram for Linux::Scheduler:

Classes
class	SchedulerThread

Public Member Functions
	Scheduler ()

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 ()

bool	in_main_thread () const override

void	register_timer_failsafe (AP_HAL::Proc, uint32_t period_us)

void	system_initialized ()

void	reboot (bool hold_in_bootloader)

void	stop_clock (uint64_t time_usec)

uint64_t	stopped_clock_usec () const

void	microsleep (uint32_t usec)

void	teardown ()

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)

Private Member Functions
void	_wait_all_threads ()

void	_debug_stack ()

void	_timer_task ()

void	_io_task ()

void	_rcin_task ()

void	_uart_task ()

void	_tonealarm_task ()

void	_run_io ()

void	_run_uarts ()

Private Attributes
AP_HAL::Proc	_failsafe

bool	_initialized

pthread_barrier_t	_initialized_barrier

AP_HAL::MemberProc	_timer_proc [LINUX_SCHEDULER_MAX_TIMER_PROCS]

uint8_t	_num_timer_procs

volatile bool	_in_timer_proc

AP_HAL::MemberProc	_io_proc [LINUX_SCHEDULER_MAX_IO_PROCS]

uint8_t	_num_io_procs

SchedulerThread	_timer_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_timer_task, void), *this}

SchedulerThread	_io_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_io_task, void), *this}

SchedulerThread	_rcin_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_rcin_task, void), *this}

SchedulerThread	_uart_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_uart_task, void), *this}

SchedulerThread	_tonealarm_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_tonealarm_task, void), *this}

uint64_t	_stopped_clock_usec

uint64_t	_last_stack_debug_msec

pthread_t	_main_ctx

Semaphore	_timer_semaphore

Semaphore	_io_semaphore

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

Detailed Description

Definition at line 19 of file Scheduler.h.

Constructor & Destructor Documentation

◆ Scheduler()

Scheduler::Scheduler ( )

Definition at line 61 of file Scheduler.cpp.

Member Function Documentation

◆ _debug_stack()

void Scheduler::_debug_stack ( )

private

Definition at line 115 of file Scheduler.cpp.

Referenced by init().

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◆ _io_task()

void Scheduler::_io_task ( )

private

Definition at line 310 of file Scheduler.cpp.

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◆ _rcin_task()

void Scheduler::_rcin_task ( )

private

Definition at line 294 of file Scheduler.cpp.

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◆ _run_io()

void Scheduler::_run_io ( void )

private

Definition at line 264 of file Scheduler.cpp.

Referenced by _io_task(), and stop_clock().

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◆ _run_uarts()

void Scheduler::_run_uarts ( )

private

Definition at line 283 of file Scheduler.cpp.

Referenced by _uart_task().

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◆ _timer_task()

void Scheduler::_timer_task ( )

private

Definition at line 223 of file Scheduler.cpp.

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◆ _tonealarm_task()

void Scheduler::_tonealarm_task ( )

private

Definition at line 304 of file Scheduler.cpp.

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◆ _uart_task()

void Scheduler::_uart_task ( )

private

Definition at line 299 of file Scheduler.cpp.

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◆ _wait_all_threads()

void Scheduler::_wait_all_threads ( )

private

Definition at line 324 of file Scheduler.cpp.

Referenced by system_initialized().

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◆ delay()

void Scheduler::delay ( uint16_t ms )

virtual

Implements AP_HAL::Scheduler.

Definition at line 143 of file Scheduler.cpp.

Referenced by from().

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◆ delay_microseconds()

void Scheduler::delay_microseconds ( uint16_t us )

virtual

Implements AP_HAL::Scheduler.

Definition at line 165 of file Scheduler.cpp.

Referenced by from().

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◆ from()

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

inlinestatic

Definition at line 23 of file Scheduler.h.

Referenced by Linux::PeriodicThread::_run().

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◆ in_main_thread()

bool Scheduler::in_main_thread ( ) const

overridevirtual

Implements AP_HAL::Scheduler.

Definition at line 319 of file Scheduler.cpp.

Referenced by delay(), and from().

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◆ init()

void Scheduler::init ( void )

virtual

Implements AP_HAL::Scheduler.

Definition at line 64 of file Scheduler.cpp.

Referenced by from().

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◆ microsleep()

void Scheduler::microsleep ( uint32_t usec )

Definition at line 135 of file Scheduler.cpp.

Referenced by Linux::PeriodicThread::_run(), delay(), delay_microseconds(), and stopped_clock_usec().

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◆ reboot()

void Scheduler::reboot ( bool hold_in_bootloader )

virtual

Implements AP_HAL::Scheduler.

Definition at line 343 of file Scheduler.cpp.

Referenced by from().

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◆ register_io_process()

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

virtual

Implements AP_HAL::Scheduler.

Definition at line 190 of file Scheduler.cpp.

Referenced by from().

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◆ register_timer_failsafe()

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

virtual

Implements AP_HAL::Scheduler.

Definition at line 206 of file Scheduler.cpp.

Referenced by from().

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◆ register_timer_process()

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

virtual

Implements AP_HAL::Scheduler.

Definition at line 173 of file Scheduler.cpp.

Referenced by from(), and init().

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◆ resume_timer_procs()

void Scheduler::resume_timer_procs ( )

virtual

Implements AP_HAL::Scheduler.

Definition at line 218 of file Scheduler.cpp.

Referenced by from().

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◆ stop_clock()

void Scheduler::stop_clock ( uint64_t time_usec )

virtual

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

Reimplemented from AP_HAL::Scheduler.

Definition at line 348 of file Scheduler.cpp.

Referenced by from().

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◆ stopped_clock_usec()

uint64_t Linux::Scheduler::stopped_clock_usec ( ) const

inline

Definition at line 46 of file Scheduler.h.

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◆ suspend_timer_procs()

void Scheduler::suspend_timer_procs ( )

virtual

Implements AP_HAL::Scheduler.

Definition at line 211 of file Scheduler.cpp.

Referenced by from().

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◆ system_initialized()

void Scheduler::system_initialized ( )

virtual

Implements AP_HAL::Scheduler.

Definition at line 332 of file Scheduler.cpp.

Referenced by from().

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◆ teardown()

void Scheduler::teardown ( )

Definition at line 363 of file Scheduler.cpp.

Referenced by stopped_clock_usec().

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Member Data Documentation

◆ _failsafe

AP_HAL::Proc Linux::Scheduler::_failsafe

private

Definition at line 70 of file Scheduler.h.

Referenced by _timer_task(), and register_timer_failsafe().

◆ _in_timer_proc

volatile bool Linux::Scheduler::_in_timer_proc

private

Definition at line 77 of file Scheduler.h.

Referenced by _timer_task().

◆ _initialized

bool Linux::Scheduler::_initialized

private

Definition at line 72 of file Scheduler.h.

Referenced by system_initialized().

◆ _initialized_barrier

pthread_barrier_t Linux::Scheduler::_initialized_barrier

private

Definition at line 73 of file Scheduler.h.

Referenced by _wait_all_threads(), and init().

◆ _io_proc

AP_HAL::MemberProc Linux::Scheduler::_io_proc[LINUX_SCHEDULER_MAX_IO_PROCS]

private

Definition at line 79 of file Scheduler.h.

Referenced by _run_io(), and register_io_process().

◆ _io_semaphore

Semaphore Linux::Scheduler::_io_semaphore

private

Definition at line 102 of file Scheduler.h.

Referenced by _run_io().

◆ _io_thread

SchedulerThread Linux::Scheduler::_io_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_io_task, void), *this}

private

Definition at line 83 of file Scheduler.h.

Referenced by _debug_stack(), and teardown().

◆ _last_stack_debug_msec

uint64_t Linux::Scheduler::_last_stack_debug_msec

private

Definition at line 98 of file Scheduler.h.

Referenced by _debug_stack().

◆ _main_ctx

pthread_t Linux::Scheduler::_main_ctx

private

Definition at line 99 of file Scheduler.h.

Referenced by in_main_thread(), and init().

◆ _num_io_procs

uint8_t Linux::Scheduler::_num_io_procs

private

Definition at line 80 of file Scheduler.h.

Referenced by _run_io(), and register_io_process().

◆ _num_timer_procs

uint8_t Linux::Scheduler::_num_timer_procs

private

Definition at line 76 of file Scheduler.h.

Referenced by _timer_task(), and register_timer_process().

◆ _rcin_thread

SchedulerThread Linux::Scheduler::_rcin_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_rcin_task, void), *this}

private

Definition at line 84 of file Scheduler.h.

Referenced by _debug_stack(), and teardown().

◆ _stopped_clock_usec

uint64_t Linux::Scheduler::_stopped_clock_usec

private

Definition at line 97 of file Scheduler.h.

Referenced by delay(), delay_microseconds(), stop_clock(), and stopped_clock_usec().

◆ _timer_proc

AP_HAL::MemberProc Linux::Scheduler::_timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS]

private

Definition at line 75 of file Scheduler.h.

Referenced by _timer_task(), and register_timer_process().

◆ _timer_semaphore

Semaphore Linux::Scheduler::_timer_semaphore

private

Definition at line 101 of file Scheduler.h.

Referenced by _timer_task(), resume_timer_procs(), and suspend_timer_procs().

◆ _timer_thread

SchedulerThread Linux::Scheduler::_timer_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_timer_task, void), *this}

private

Definition at line 82 of file Scheduler.h.

Referenced by _debug_stack(), and teardown().

◆ _tonealarm_thread

SchedulerThread Linux::Scheduler::_tonealarm_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_tonealarm_task, void), *this}

private

Definition at line 86 of file Scheduler.h.

Referenced by _debug_stack(), and teardown().

◆ _uart_thread

SchedulerThread Linux::Scheduler::_uart_thread {FUNCTOR_BIND_MEMBER(&Scheduler::_uart_task, void), *this}

private

Definition at line 85 of file Scheduler.h.

Referenced by _debug_stack(), and teardown().

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

libraries/AP_HAL_Linux/Scheduler.h
libraries/AP_HAL_Linux/Scheduler.cpp

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Scheduler()

Member Function Documentation

◆ _debug_stack()

◆ _io_task()

◆ _rcin_task()

◆ _run_io()

◆ _run_uarts()

◆ _timer_task()

◆ _tonealarm_task()

◆ _uart_task()

◆ _wait_all_threads()

◆ delay()

◆ delay_microseconds()

◆ from()

◆ in_main_thread()

◆ init()

◆ microsleep()

◆ reboot()

◆ register_io_process()

◆ register_timer_failsafe()

◆ register_timer_process()

◆ resume_timer_procs()

◆ stop_clock()

◆ stopped_clock_usec()

◆ suspend_timer_procs()

◆ system_initialized()

◆ teardown()

Member Data Documentation

◆ _failsafe

◆ _in_timer_proc

◆ _initialized

◆ _initialized_barrier

◆ _io_proc

◆ _io_semaphore

◆ _io_thread

◆ _last_stack_debug_msec

◆ _main_ctx

◆ _num_io_procs

◆ _num_timer_procs

◆ _rcin_thread

◆ _stopped_clock_usec

◆ _timer_proc

◆ _timer_semaphore

◆ _timer_thread

◆ _tonealarm_thread

◆ _uart_thread