PX4::PX4Scheduler Class Reference

#include <Scheduler.h>

Inheritance diagram for PX4::PX4Scheduler:

Collaboration diagram for PX4::PX4Scheduler:

Classes
struct	_uavcan_thread_arg

Public Member Functions
	PX4Scheduler ()
void	init ()
void	delay (uint16_t ms)
void	delay_microseconds (uint16_t us)
void	delay_microseconds_boost (uint16_t us)
void	register_timer_process (AP_HAL::MemberProc)
void	register_io_process (AP_HAL::MemberProc)
void	register_timer_failsafe (AP_HAL::Proc, uint32_t period_us)
void	suspend_timer_procs ()
void	resume_timer_procs ()
void	reboot (bool hold_in_bootloader)
bool	in_main_thread () const override
void	system_initialized ()
void	hal_initialized ()
void	create_uavcan_thread () override
void *	disable_interrupts_save (void) override
void	restore_interrupts (void *) override
Public Member Functions inherited from AP_HAL::Scheduler
	Scheduler ()
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	stop_clock (uint64_t time_usec)
virtual void	call_delay_cb ()

Private Member Functions
void	_run_timers (bool called_from_timer_thread)
void	_run_io (void)
void	delay_microseconds_semaphore (uint16_t us)

Static Private Member Functions
static void *	_timer_thread (void *arg)
static void *	_io_thread (void *arg)
static void *	_storage_thread (void *arg)
static void *	_uart_thread (void *arg)
static void *	_uavcan_thread (void *arg)

Private Attributes
bool	_initialized
volatile bool	_hal_initialized
AP_HAL::Proc	_delay_cb
uint16_t	_min_delay_cb_ms
AP_HAL::Proc	_failsafe
volatile bool	_timer_suspended
AP_HAL::MemberProc	_timer_proc [PX4_SCHEDULER_MAX_TIMER_PROCS]
uint8_t	_num_timer_procs
volatile bool	_in_timer_proc
AP_HAL::MemberProc	_io_proc [PX4_SCHEDULER_MAX_TIMER_PROCS]
uint8_t	_num_io_procs
volatile bool	_in_io_proc
volatile bool	_timer_event_missed
pid_t	_main_task_pid
pthread_t	_timer_thread_ctx
pthread_t	_io_thread_ctx
pthread_t	_storage_thread_ctx
pthread_t	_uart_thread_ctx
pthread_t	_uavcan_thread_ctx
perf_counter_t	_perf_timers
perf_counter_t	_perf_io_timers
perf_counter_t	_perf_storage_timer
perf_counter_t	_perf_delay

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

Detailed Description

Definition at line 44 of file Scheduler.h.

Constructor & Destructor Documentation

PX4Scheduler()

PX4Scheduler::PX4Scheduler

(

)

Definition at line 38 of file Scheduler.cpp.

Member Function Documentation

_io_thread()

void * PX4Scheduler::_io_thread ( void *  arg )

staticprivate

Definition at line 367 of file Scheduler.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

_run_io()

void PX4Scheduler::_run_io ( void  )

private

Definition at line 325 of file Scheduler.cpp.

Referenced by _io_thread().

Here is the caller graph for this function:

_run_timers()

void PX4Scheduler::_run_timers ( bool  called_from_timer_thread )

private

Definition at line 259 of file Scheduler.cpp.

Referenced by _timer_thread(), and resume_timer_procs().

Here is the caller graph for this function:

_storage_thread()

void * PX4Scheduler::_storage_thread ( void *  arg )

staticprivate

Definition at line 387 of file Scheduler.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

_timer_thread()

void * PX4Scheduler::_timer_thread ( void *  arg )

staticprivate

Definition at line 290 of file Scheduler.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

_uart_thread()

void * PX4Scheduler::_uart_thread ( void *  arg )

staticprivate

Definition at line 344 of file Scheduler.cpp.

Referenced by init().

Here is the call graph for this function:

Here is the caller graph for this function:

_uavcan_thread()

static void* PX4::PX4Scheduler::_uavcan_thread ( void *  arg )

staticprivate

Referenced by _storage_thread(), and create_uavcan_thread().

Here is the caller graph for this function:

create_uavcan_thread()

void PX4Scheduler::create_uavcan_thread ( )

overridevirtual

Reimplemented from AP_HAL::Scheduler.

Definition at line 93 of file Scheduler.cpp.

Referenced by hal_initialized().

Here is the call graph for this function:

Here is the caller graph for this function:

delay()

void PX4Scheduler::delay ( uint16_t  ms )

virtual

Implements AP_HAL::Scheduler.

Definition at line 174 of file Scheduler.cpp.

Referenced by reboot().

Here is the call graph for this function:

Here is the caller graph for this function:

delay_microseconds()

void PX4Scheduler::delay_microseconds ( uint16_t  us )

virtual

Implements AP_HAL::Scheduler.

Definition at line 134 of file Scheduler.cpp.

Here is the call graph for this function:

delay_microseconds_boost()

void PX4Scheduler::delay_microseconds_boost ( uint16_t  us )

virtual

Reimplemented from AP_HAL::Scheduler.

Definition at line 164 of file Scheduler.cpp.

Here is the call graph for this function:

delay_microseconds_semaphore()

void PX4Scheduler::delay_microseconds_semaphore ( uint16_t  usec )

private

delay for a specified number of microseconds using a semaphore wait

Definition at line 124 of file Scheduler.cpp.

Referenced by _io_thread(), _storage_thread(), _timer_thread(), _uart_thread(), delay(), and delay_microseconds().

Here is the caller graph for this function:

disable_interrupts_save()

void * PX4Scheduler::disable_interrupts_save ( void  )

overridevirtual

Reimplemented from AP_HAL::Scheduler.

Definition at line 457 of file Scheduler.cpp.

Referenced by hal_initialized().

Here is the caller graph for this function:

hal_initialized()

void PX4::PX4Scheduler::hal_initialized ( )

inline

Definition at line 62 of file Scheduler.h.

Referenced by main_loop().

Here is the call graph for this function:

Here is the caller graph for this function:

in_main_thread()

bool PX4Scheduler::in_main_thread ( ) const

overridevirtual

Implements AP_HAL::Scheduler.

Definition at line 437 of file Scheduler.cpp.

Referenced by delay().

Here is the caller graph for this function:

init()

void PX4Scheduler::init ( void  )

virtual

Implements AP_HAL::Scheduler.

Definition at line 45 of file Scheduler.cpp.

Here is the call graph for this function:

reboot()

void PX4Scheduler::reboot ( bool  hold_in_bootloader )

virtual

Implements AP_HAL::Scheduler.

Definition at line 247 of file Scheduler.cpp.

Here is the call graph for this function:

register_io_process()

void PX4Scheduler::register_io_process ( AP_HAL::MemberProc  proc )

virtual

Implements AP_HAL::Scheduler.

Definition at line 212 of file Scheduler.cpp.

Here is the call graph for this function:

register_timer_failsafe()

void PX4Scheduler::register_timer_failsafe ( AP_HAL::Proc  failsafe, uint32_t  period_us  )

virtual

Implements AP_HAL::Scheduler.

Definition at line 228 of file Scheduler.cpp.

register_timer_process()

void PX4Scheduler::register_timer_process ( AP_HAL::MemberProc  proc )

virtual

Implements AP_HAL::Scheduler.

Definition at line 196 of file Scheduler.cpp.

Here is the call graph for this function:

restore_interrupts()

void PX4Scheduler::restore_interrupts ( void *  state )

overridevirtual

Reimplemented from AP_HAL::Scheduler.

Definition at line 465 of file Scheduler.cpp.

Referenced by hal_initialized().

Here is the caller graph for this function:

resume_timer_procs()

void PX4Scheduler::resume_timer_procs ( )

virtual

Implements AP_HAL::Scheduler.

Definition at line 238 of file Scheduler.cpp.

Here is the call graph for this function:

suspend_timer_procs()

void PX4Scheduler::suspend_timer_procs ( )

virtual

Implements AP_HAL::Scheduler.

Definition at line 233 of file Scheduler.cpp.

system_initialized()

void PX4Scheduler::system_initialized ( )

virtual

Implements AP_HAL::Scheduler.

Definition at line 442 of file Scheduler.cpp.

Here is the call graph for this function:

Member Data Documentation

_delay_cb

AP_HAL::Proc PX4::PX4Scheduler::_delay_cb

private

Definition at line 81 of file Scheduler.h.

_failsafe

AP_HAL::Proc PX4::PX4Scheduler::_failsafe

private

Definition at line 83 of file Scheduler.h.

Referenced by _run_timers(), and register_timer_failsafe().

_hal_initialized

volatile bool PX4::PX4Scheduler::_hal_initialized

private

Definition at line 80 of file Scheduler.h.

Referenced by _io_thread(), _storage_thread(), _timer_thread(), _uart_thread(), and hal_initialized().

_in_io_proc

volatile bool PX4::PX4Scheduler::_in_io_proc

private

Definition at line 93 of file Scheduler.h.

Referenced by _run_io().

_in_timer_proc

volatile bool PX4::PX4Scheduler::_in_timer_proc

private

Definition at line 89 of file Scheduler.h.

Referenced by _run_timers().

_initialized

bool PX4::PX4Scheduler::_initialized

private

Definition at line 79 of file Scheduler.h.

Referenced by system_initialized().

_io_proc

AP_HAL::MemberProc PX4::PX4Scheduler::_io_proc[PX4_SCHEDULER_MAX_TIMER_PROCS]

private

Definition at line 91 of file Scheduler.h.

Referenced by _run_io(), and register_io_process().

_io_thread_ctx

pthread_t PX4::PX4Scheduler::_io_thread_ctx

private

Definition at line 99 of file Scheduler.h.

Referenced by init().

_main_task_pid

pid_t PX4::PX4Scheduler::_main_task_pid

private

Definition at line 97 of file Scheduler.h.

Referenced by in_main_thread(), and init().

_min_delay_cb_ms

uint16_t PX4::PX4Scheduler::_min_delay_cb_ms

private

Definition at line 82 of file Scheduler.h.

Referenced by delay().

_num_io_procs

uint8_t PX4::PX4Scheduler::_num_io_procs

private

Definition at line 92 of file Scheduler.h.

Referenced by _run_io(), and register_io_process().

_num_timer_procs

uint8_t PX4::PX4Scheduler::_num_timer_procs

private

Definition at line 88 of file Scheduler.h.

Referenced by _run_timers(), and register_timer_process().

_perf_delay

perf_counter_t PX4::PX4Scheduler::_perf_delay

private

Definition at line 123 of file Scheduler.h.

Referenced by delay(), and delay_microseconds().

_perf_io_timers

perf_counter_t PX4::PX4Scheduler::_perf_io_timers

private

Definition at line 121 of file Scheduler.h.

Referenced by _io_thread().

_perf_storage_timer

perf_counter_t PX4::PX4Scheduler::_perf_storage_timer

private

Definition at line 122 of file Scheduler.h.

Referenced by _storage_thread().

_perf_timers

perf_counter_t PX4::PX4Scheduler::_perf_timers

private

Definition at line 120 of file Scheduler.h.

Referenced by _timer_thread().

_storage_thread_ctx

pthread_t PX4::PX4Scheduler::_storage_thread_ctx

private

Definition at line 100 of file Scheduler.h.

Referenced by init().

_timer_event_missed

volatile bool PX4::PX4Scheduler::_timer_event_missed

private

Definition at line 95 of file Scheduler.h.

Referenced by _run_timers(), and resume_timer_procs().

_timer_proc

AP_HAL::MemberProc PX4::PX4Scheduler::_timer_proc[PX4_SCHEDULER_MAX_TIMER_PROCS]

private

Definition at line 87 of file Scheduler.h.

Referenced by _run_timers(), and register_timer_process().

_timer_suspended

volatile bool PX4::PX4Scheduler::_timer_suspended

private

Definition at line 85 of file Scheduler.h.

Referenced by _run_io(), _run_timers(), resume_timer_procs(), and suspend_timer_procs().

_timer_thread_ctx

pthread_t PX4::PX4Scheduler::_timer_thread_ctx

private

Definition at line 98 of file Scheduler.h.

Referenced by init().

_uart_thread_ctx

pthread_t PX4::PX4Scheduler::_uart_thread_ctx

private

Definition at line 101 of file Scheduler.h.

Referenced by init().

_uavcan_thread_ctx

pthread_t PX4::PX4Scheduler::_uavcan_thread_ctx

private

Definition at line 102 of file Scheduler.h.

Referenced by create_uavcan_thread().

---

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

• libraries/AP_HAL_PX4/Scheduler.h
• libraries/AP_HAL_PX4/Scheduler.cpp