void *VRBRAINScheduler::_timer_thread(void *arg)
{
VRBRAINScheduler *sched = (VRBRAINScheduler *)arg;
uint32_t last_ran_overtime = 0;
pthread_setname_np(pthread_self(), "apm_timer");
while (!sched->_hal_initialized) {
poll(nullptr, 0, 1);
}
while (!_vrbrain_thread_should_exit) {
sched->delay_microseconds_semaphore(1000);
// run registered timers
perf_begin(sched->_perf_timers);
sched->_run_timers();
perf_end(sched->_perf_timers);
// process any pending RC output requests
hal.rcout->timer_tick();
// process any pending RC input requests
((VRBRAINRCInput *)hal.rcin)->_timer_tick();
if (vrbrain_ran_overtime && AP_HAL::millis() - last_ran_overtime > 2000) {
last_ran_overtime = AP_HAL::millis();
#if 0
printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
hal.console->printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
#endif
}
}
return nullptr;
}
void *VRBRAINScheduler::_storage_thread(void *arg)
{
VRBRAINScheduler *sched = (VRBRAINScheduler *)arg;
pthread_setname_np(pthread_self(), "apm_storage");
while (!sched->_hal_initialized) {
poll(nullptr, 0, 1);
}
while (!_vrbrain_thread_should_exit) {
sched->delay_microseconds_semaphore(10000);
// process any pending storage writes
perf_begin(sched->_perf_storage_timer);
hal.storage->_timer_tick();
perf_end(sched->_perf_storage_timer);
}
return nullptr;
}
void *VRBRAINScheduler::_io_thread(void *arg)
{
VRBRAINScheduler *sched = (VRBRAINScheduler *)arg;
pthread_setname_np(pthread_self(), "apm_io");
while (!sched->_hal_initialized) {
poll(nullptr, 0, 1);
}
while (!_vrbrain_thread_should_exit) {
sched->delay_microseconds_semaphore(1000);
// run registered IO processes
perf_begin(sched->_perf_io_timers);
sched->_run_io();
perf_end(sched->_perf_io_timers);
}
return nullptr;
}
void *VRBRAINScheduler::_uart_thread(void *arg)
{
VRBRAINScheduler *sched = (VRBRAINScheduler *)arg;
while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
}
while (!_vrbrain_thread_should_exit) {
sched->delay_microseconds_semaphore(1000);
// process any pending serial bytes
((VRBRAINUARTDriver *)hal.uartA)->_timer_tick();
((VRBRAINUARTDriver *)hal.uartB)->_timer_tick();
((VRBRAINUARTDriver *)hal.uartC)->_timer_tick();
((VRBRAINUARTDriver *)hal.uartD)->_timer_tick();
((VRBRAINUARTDriver *)hal.uartE)->_timer_tick();
((VRBRAINUARTDriver *)hal.uartF)->_timer_tick();
}
return NULL;
}
void *VRBRAINScheduler::_uart_thread(void *arg)
{
VRBRAINScheduler *sched = (VRBRAINScheduler *)arg;
pthread_setname_np(pthread_self(), "apm_uart");
while (!sched->_hal_initialized) {
poll(nullptr, 0, 1);
}
while (!_vrbrain_thread_should_exit) {
sched->delay_microseconds_semaphore(1000);
// process any pending serial bytes
hal.uartA->_timer_tick();
hal.uartB->_timer_tick();
hal.uartC->_timer_tick();
hal.uartD->_timer_tick();
hal.uartE->_timer_tick();
hal.uartF->_timer_tick();
}
return nullptr;
}
