Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_HAL/AP_HAL.h>
       4             : #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
       5             : #include "AP_HAL_SITL_Namespace.h"
       6             : #include <sys/time.h>
       7             : #include <pthread.h>
       8             : 
       9             : #define SITL_SCHEDULER_MAX_TIMER_PROCS 8
      10             : 
      11             : /* Scheduler implementation: */
      12             : class HALSITL::Scheduler : public AP_HAL::Scheduler {
      13             : public:
      14             :     explicit Scheduler(SITL_State *sitlState);
      15 20698094246 :     static Scheduler *from(AP_HAL::Scheduler *scheduler) {
      16 20698094246 :         return static_cast<HALSITL::Scheduler*>(scheduler);
      17             :     }
      18             : 
      19             :     /* AP_HAL::Scheduler methods */
      20             : 
      21             :     void init() override;
      22             :     void delay(uint16_t ms) override;
      23             :     void delay_microseconds(uint16_t us) override;
      24             : 
      25             :     void register_timer_process(AP_HAL::MemberProc) override;
      26             :     void register_io_process(AP_HAL::MemberProc) override;
      27             : 
      28             :     void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
      29             : 
      30             :     bool in_main_thread() const override;
      31   246017465 :     bool is_system_initialized() override { return _initialized; };
      32             :     void set_system_initialized() override;
      33             : 
      34             :     void reboot(bool hold_in_bootloader) override;
      35             : 
      36   187275482 :     bool interrupts_are_blocked(void) const {
      37   187275482 :         return _nested_atomic_ctr != 0;
      38             :     }
      39             : 
      40   187268325 :     void sitl_begin_atomic() {
      41   187268325 :         _nested_atomic_ctr++;
      42   187268325 :     }
      43             :     void sitl_end_atomic();
      44             : 
      45   187268325 :     static void timer_event() {
      46   187268325 :         _run_timer_procs();
      47   187268325 :         _run_io_procs();
      48   187268324 :     }
      49             : 
      50 21994710651 :     uint64_t stopped_clock_usec() const { return _stopped_clock_usec; }
      51             : 
      52             :     static void _run_io_procs();
      53             :     static bool _should_exit;
      54             : 
      55             :     /*
      56             :       create a new thread
      57             :      */
      58             :     bool thread_create(AP_HAL::MemberProc, const char *name,
      59             :                        uint32_t stack_size, priority_base base, int8_t priority) override;
      60             : 
      61          16 :     void set_in_semaphore_take_wait(bool value) { _in_semaphore_take_wait = value; }
      62             :     /*
      63             :      * semaphore_wait_hack_required - possibly move time input step
      64             :      * forward even if we are currently pretending to be the IO or timer
      65             :      * threads.
      66             :      */
      67             :     // a couple of helper functions to cope with SITL's time stepping
      68             :     bool semaphore_wait_hack_required() const;
      69             : 
      70             :     // get the name of the current thread, or nullptr if not known
      71             :     const char *get_current_thread_name(void) const;
      72             : 
      73             : private:
      74             :     SITL_State *_sitlState;
      75             :     uint8_t _nested_atomic_ctr;
      76             :     static AP_HAL::Proc _failsafe;
      77             : 
      78             :     static void _run_timer_procs();
      79             : 
      80             :     static volatile bool _timer_event_missed;
      81             :     static AP_HAL::MemberProc _timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
      82             :     static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
      83             :     static uint8_t _num_timer_procs;
      84             :     static uint8_t _num_io_procs;
      85             :     static bool _in_timer_proc;
      86             :     static bool _in_io_proc;
      87             : 
      88             :     // boolean set by the Semaphore code to indicate it's currently
      89             :     // waiting for a take-timeout to occur.
      90             :     static bool _in_semaphore_take_wait;
      91             : 
      92             :     void stop_clock(uint64_t time_usec) override;
      93             : 
      94             :     static void *thread_create_trampoline(void *ctx);
      95             :     static void check_thread_stacks(void);
      96             :     
      97             :     bool _initialized;
      98             :     uint64_t _stopped_clock_usec;
      99             :     uint64_t _last_io_run;
     100             :     pthread_t _main_ctx;
     101             : 
     102             :     static HAL_Semaphore _thread_sem;
     103             :     struct thread_attr {
     104             :         struct thread_attr *next;
     105             :         AP_HAL::MemberProc *f;
     106             :         pthread_attr_t attr;
     107             :         uint32_t stack_size;
     108             :         void *stack;
     109             :         const uint8_t *stack_min;
     110             :         const char *name;
     111             :         pthread_t thread;
     112             :     };
     113             :     static struct thread_attr *threads;
     114             :     static const uint8_t stackfill = 0xEB;
     115             : };
     116             : #endif  // CONFIG_HAL_BOARD