C++ (Cpp) Scheduler::_run_timers示例

示例#1

文件： Scheduler.cpp 项目： BrendanSmith/ardupilot

void *Scheduler::_timer_thread(void *arg)
{
    Scheduler *sched = (Scheduler *)arg;
    uint32_t last_ran_overtime = 0;

    while (!sched->_hal_initialized) {
        sched->delay_microseconds(1000);
    }
    while (true) {
        sched->delay_microseconds(1000);

        // run registered timers
        sched->_run_timers(true);

        // process any pending RC output requests
        ((RCOutput *)hal.rcout)->timer_update();

        if (qurt_ran_overtime && AP_HAL::millis() - last_ran_overtime > 2000) {
            last_ran_overtime = AP_HAL::millis();
            printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
            hal.console->printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
        }
    }
    return nullptr;
}

示例#2

文件： Scheduler.cpp 项目： langfan1990/ardupilot

void Scheduler::_timer_thread(void *arg)
{
    Scheduler *sched = (Scheduler *)arg;
    chRegSetThreadName("apm_timer");

    while (!sched->_hal_initialized) {
        sched->delay_microseconds(1000);
    }
    while (true) {
        sched->delay_microseconds(1000);

        // run registered timers
        sched->_run_timers();

        // process any pending RC output requests
        hal.rcout->timer_tick();
    }
}

示例#3

文件： Scheduler.cpp 项目： BrendanSmith/ardupilot

void Scheduler::_timer_thread(void *arg)
{
    Scheduler *sched = (Scheduler *)arg;
    sched->_timer_thread_ctx->name = "apm_timer";

    while (!sched->_hal_initialized) {
        sched->delay_microseconds(1000);
    }
    while (true) {
        sched->delay_microseconds(1000);

        // run registered timers
        sched->_run_timers(true);

        // process any pending RC output requests
        //hal.rcout->timer_tick();

        // process any pending RC input requests
        ((RCInput *)hal.rcin)->_timer_tick();
    }
}