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Code Issues Releases Activity

OP-942 refactored callback scheduler to fit into PiOS naming scheme

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This commit is contained in:
Corvus Corax 2014-02-02 22:08:16 +01:00
parent 5b9a17f630
commit 49a1c4c28f
20 changed files with 90 additions and 85 deletions
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8
flight/modules/AltitudeHold/altitudehold.c
View File

@ -86,7 +86,7 @@ int32_t AltitudeHoldStart()
{ {
// Start main task // Start main task
SettingsUpdatedCb(NULL); SettingsUpdatedCb(NULL);
DelayedCallbackDispatch(altitudeHoldCBInfo); PIOS_CALLBACKSCHEDULER_Dispatch(altitudeHoldCBInfo);
return 0; return 0;
} }
@ -103,7 +103,7 @@ int32_t AltitudeHoldInitialize()
// Create object queue // Create object queue
altitudeHoldCBInfo = DelayedCallbackCreate(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_ALTITUDEHOLD, STACK_SIZE_BYTES); altitudeHoldCBInfo = PIOS_CALLBACKSCHEDULER_Create(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_ALTITUDEHOLD, STACK_SIZE_BYTES);
AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb); AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb);
return 0; return 0;
@ -130,7 +130,7 @@ static void altitudeHoldTask(void)
pid_zero(&pid0); pid_zero(&pid0);
pid_zero(&pid1); pid_zero(&pid1);
StabilizationDesiredThrottleGet(&startThrottle); StabilizationDesiredThrottleGet(&startThrottle);
DelayedCallbackSchedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER); PIOS_CALLBACKSCHEDULER_Schedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
return; return;
break; break;
@ -192,7 +192,7 @@ static void altitudeHoldTask(void)
StabilizationDesiredSet(&stab); StabilizationDesiredSet(&stab);
DelayedCallbackSchedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER); PIOS_CALLBACKSCHEDULER_Schedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
} }
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)

52
flight/modules/CallbackTest/callbacktest.c
View File

@ -65,13 +65,13 @@ int32_t CallbackTestInitialize()
{ {
mutex = xSemaphoreCreateRecursiveMutex(); mutex = xSemaphoreCreateRecursiveMutex();
cbinfo[0] = DelayedCallbackCreate(&DelayedCb0, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE); cbinfo[0] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb0, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[1] = DelayedCallbackCreate(&DelayedCb1, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE); cbinfo[1] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb1, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[2] = DelayedCallbackCreate(&DelayedCb2, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE); cbinfo[2] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb2, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[3] = DelayedCallbackCreate(&DelayedCb3, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE); cbinfo[3] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb3, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[4] = DelayedCallbackCreate(&DelayedCb4, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE); cbinfo[4] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb4, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[5] = DelayedCallbackCreate(&DelayedCb5, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE); cbinfo[5] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb5, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[6] = DelayedCallbackCreate(&DelayedCb6, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 20, -1, STACK_SIZE); cbinfo[6] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb6, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 20, -1, STACK_SIZE);
return 0; return 0;
@ -79,22 +79,22 @@ int32_t CallbackTestInitialize()
int32_t CallbackTestStart() int32_t CallbackTestStart()
{ {
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
DelayedCallbackDispatch(cbinfo[3]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[3]);
DelayedCallbackDispatch(cbinfo[2]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[2]);
DelayedCallbackDispatch(cbinfo[1]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[1]);
DelayedCallbackDispatch(cbinfo[0]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[0]);
// different callback priorities within a taskpriority // different callback priorities within a taskpriority
DelayedCallbackSchedule(cbinfo[4], 30000, CALLBACK_UPDATEMODE_NONE); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 30000, CALLBACK_UPDATEMODE_NONE);
DelayedCallbackSchedule(cbinfo[4], 5000, CALLBACK_UPDATEMODE_OVERRIDE); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 5000, CALLBACK_UPDATEMODE_OVERRIDE);
DelayedCallbackSchedule(cbinfo[4], 4000, CALLBACK_UPDATEMODE_SOONER); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 4000, CALLBACK_UPDATEMODE_SOONER);
DelayedCallbackSchedule(cbinfo[4], 10000, CALLBACK_UPDATEMODE_SOONER); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 10000, CALLBACK_UPDATEMODE_SOONER);
DelayedCallbackSchedule(cbinfo[4], 1000, CALLBACK_UPDATEMODE_LATER); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 1000, CALLBACK_UPDATEMODE_LATER);
DelayedCallbackSchedule(cbinfo[4], 4800, CALLBACK_UPDATEMODE_LATER); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 4800, CALLBACK_UPDATEMODE_LATER);
DelayedCallbackSchedule(cbinfo[4], 48000, CALLBACK_UPDATEMODE_NONE); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 48000, CALLBACK_UPDATEMODE_NONE);
// should be at 4.8 seconds after this, allowing for exactly 9 prints of the following // should be at 4.8 seconds after this, allowing for exactly 9 prints of the following
DelayedCallbackSchedule(cbinfo[5], 500, CALLBACK_UPDATEMODE_NONE); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[5], 500, CALLBACK_UPDATEMODE_NONE);
// delayed counter with 500 ms // delayed counter with 500 ms
DelayedCallbackDispatch(cbinfo[6]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[6]);
// high task prio // high task prio
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
return 0; return 0;
@ -104,28 +104,28 @@ static void DelayedCb0()
{ {
DEBUGPRINT("delayed counter low prio 0 updated: %i\n", counter[0]); DEBUGPRINT("delayed counter low prio 0 updated: %i\n", counter[0]);
if (++counter[0] < 10) { if (++counter[0] < 10) {
DelayedCallbackDispatch(cbinfo[0]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[0]);
} }
} }
static void DelayedCb1() static void DelayedCb1()
{ {
DEBUGPRINT("delayed counter low prio 1 updated: %i\n", counter[1]); DEBUGPRINT("delayed counter low prio 1 updated: %i\n", counter[1]);
if (++counter[1] < 10) { if (++counter[1] < 10) {
DelayedCallbackDispatch(cbinfo[1]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[1]);
} }
} }
static void DelayedCb2() static void DelayedCb2()
{ {
DEBUGPRINT("delayed counter high prio 2 updated: %i\n", counter[2]); DEBUGPRINT("delayed counter high prio 2 updated: %i\n", counter[2]);
if (++counter[2] < 10) { if (++counter[2] < 10) {
DelayedCallbackDispatch(cbinfo[2]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[2]);
} }
} }
static void DelayedCb3() static void DelayedCb3()
{ {
DEBUGPRINT("delayed counter high prio 3 updated: %i\n", counter[3]); DEBUGPRINT("delayed counter high prio 3 updated: %i\n", counter[3]);
if (++counter[3] < 10) { if (++counter[3] < 10) {
DelayedCallbackDispatch(cbinfo[3]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[3]);
} }
} }
static void DelayedCb4() static void DelayedCb4()
@ -137,7 +137,7 @@ static void DelayedCb5()
{ {
DEBUGPRINT("delayed scheduled counter 5 updated: %i\n", counter[5]); DEBUGPRINT("delayed scheduled counter 5 updated: %i\n", counter[5]);
if (++counter[5] < 10) { if (++counter[5] < 10) {
DelayedCallbackSchedule(cbinfo[5], 500, CALLBACK_UPDATEMODE_NONE); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[5], 500, CALLBACK_UPDATEMODE_NONE);
} }
// it will likely only reach 8 due to cb4 aborting the run // it will likely only reach 8 due to cb4 aborting the run
} }
@ -145,6 +145,6 @@ static void DelayedCb6()
{ {
DEBUGPRINT("delayed counter 6 (high task prio) updated: %i\n", counter[6]); DEBUGPRINT("delayed counter 6 (high task prio) updated: %i\n", counter[6]);
if (++counter[6] < 10) { if (++counter[6] < 10) {
DelayedCallbackDispatch(cbinfo[6]); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[6]);
} }
} }

8
flight/modules/Example/examplemodcallback.c
View File

@ -72,7 +72,7 @@ int32_t ExampleModCallbackInitialize()
// Listen for ExampleObject1 updates, connect a callback function // Listen for ExampleObject1 updates, connect a callback function
ExampleObject1ConnectCallback(&ObjectUpdatedCb); ExampleObject1ConnectCallback(&ObjectUpdatedCb);
cbinfo = DelayedCallbackCreate(&DelayedCb, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_EXAMPLE, STACK_SIZE); cbinfo = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_EXAMPLE, STACK_SIZE);
return 0; return 0;
} }
@ -86,11 +86,11 @@ int32_t ExampleModCallbackInitialize()
*/ */
static void ObjectUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void ObjectUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{ {
DelayedCallbackDispatch(cbinfo); PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo);
} }
/** /**
* This function is called by the DelayedCallbackScheduler when its execution * This function is called by the PIOS_CALLBACKSCHEDULER_Scheduler when its execution
* has been requested. Callbacks scheduled for execution are executed in the * has been requested. Callbacks scheduled for execution are executed in the
* same thread in a round robin fashion. The Dispatch function to reschedule * same thread in a round robin fashion. The Dispatch function to reschedule
* execution can be called from within the Callback itself, in which case the * execution can be called from within the Callback itself, in which case the
@ -136,5 +136,5 @@ ExampleObject2Set(&data2);
// call the module again 10 seconds later, // call the module again 10 seconds later,
// even if the exampleobject has not been updated // even if the exampleobject has not been updated
DelayedCallbackSchedule(cbinfo, 10 * 1000, CALLBACK_UPDATEMODE_NONE); PIOS_CALLBACKSCHEDULER_Schedule(cbinfo, 10 * 1000, CALLBACK_UPDATEMODE_NONE);
} }

2
flight/modules/OPLink/oplinkmod.c
View File

@ -119,7 +119,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
MODULE_TASKCREATE_ALL; MODULE_TASKCREATE_ALL;
/* start the delayed callback scheduler */ /* start the delayed callback scheduler */
CallbackSchedulerStart(); PIOS_CALLBACKSCHEDULER_Start();
if (mallocFailed) { if (mallocFailed) {
/* We failed to malloc during task creation, /* We failed to malloc during task creation,

12
flight/modules/PathPlanner/pathplanner.c
View File

@ -96,7 +96,7 @@ int32_t PathPlannerStart()
PathStatusConnectCallback(statusUpdated); PathStatusConnectCallback(statusUpdated);
// Start main task callback // Start main task callback
DelayedCallbackDispatch(pathPlannerHandle); PIOS_CALLBACKSCHEDULER_Dispatch(pathPlannerHandle);
return 0; return 0;
} }
@ -116,8 +116,8 @@ int32_t PathPlannerInitialize()
WaypointInitialize(); WaypointInitialize();
WaypointActiveInitialize(); WaypointActiveInitialize();
pathPlannerHandle = DelayedCallbackCreate(&pathPlannerTask, CALLBACK_PRIORITY_REGULAR, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER0, STACK_SIZE_BYTES); pathPlannerHandle = PIOS_CALLBACKSCHEDULER_Create(&pathPlannerTask, CALLBACK_PRIORITY_REGULAR, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER0, STACK_SIZE_BYTES);
pathDesiredUpdaterHandle = DelayedCallbackCreate(&updatePathDesired, CALLBACK_PRIORITY_CRITICAL, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER1, STACK_SIZE_BYTES); pathDesiredUpdaterHandle = PIOS_CALLBACKSCHEDULER_Create(&updatePathDesired, CALLBACK_PRIORITY_CRITICAL, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER1, STACK_SIZE_BYTES);
return 0; return 0;
} }
@ -129,7 +129,7 @@ MODULE_INITCALL(PathPlannerInitialize, PathPlannerStart);
*/ */
static void pathPlannerTask() static void pathPlannerTask()
{ {
DelayedCallbackSchedule(pathPlannerHandle, PATH_PLANNER_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER); PIOS_CALLBACKSCHEDULER_Schedule(pathPlannerHandle, PATH_PLANNER_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
bool endCondition = false; bool endCondition = false;
@ -333,13 +333,13 @@ static uint8_t checkPathPlan()
// callback function when status changed, issue execution of state machine // callback function when status changed, issue execution of state machine
void commandUpdated(__attribute__((unused)) UAVObjEvent *ev) void commandUpdated(__attribute__((unused)) UAVObjEvent *ev)
{ {
DelayedCallbackDispatch(pathDesiredUpdaterHandle); PIOS_CALLBACKSCHEDULER_Dispatch(pathDesiredUpdaterHandle);
} }
// callback function when waypoints changed in any way, update pathDesired // callback function when waypoints changed in any way, update pathDesired
void statusUpdated(__attribute__((unused)) UAVObjEvent *ev) void statusUpdated(__attribute__((unused)) UAVObjEvent *ev)
{ {
DelayedCallbackDispatch(pathPlannerHandle); PIOS_CALLBACKSCHEDULER_Dispatch(pathPlannerHandle);
} }

14
flight/modules/StateEstimation/stateestimation.c
View File

@ -268,7 +268,7 @@ int32_t StateEstimationInitialize(void)
stack_required = maxint32_t(stack_required, filterEKF13iInitialize(&ekf13iFilter)); stack_required = maxint32_t(stack_required, filterEKF13iInitialize(&ekf13iFilter));
stack_required = maxint32_t(stack_required, filterEKF13Initialize(&ekf13Filter)); stack_required = maxint32_t(stack_required, filterEKF13Initialize(&ekf13Filter));
stateEstimationCallback = DelayedCallbackCreate(&StateEstimationCb, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_STATEESTIMATION, stack_required); stateEstimationCallback = PIOS_CALLBACKSCHEDULER_Create(&StateEstimationCb, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_STATEESTIMATION, stack_required);
return 0; return 0;
} }
@ -307,7 +307,7 @@ static void StateEstimationCb(void)
// after system startup, first few sensor readings might be messed up, delay until everything has settled // after system startup, first few sensor readings might be messed up, delay until everything has settled
if (bootDelay) { if (bootDelay) {
bootDelay--; bootDelay--;
DelayedCallbackSchedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER); PIOS_CALLBACKSCHEDULER_Schedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER);
return; return;
} }
@ -390,7 +390,7 @@ static void StateEstimationCb(void)
// we are not done, re-dispatch self execution // we are not done, re-dispatch self execution
runState = RUNSTATE_FILTER; runState = RUNSTATE_FILTER;
DelayedCallbackDispatch(stateEstimationCallback); PIOS_CALLBACKSCHEDULER_Dispatch(stateEstimationCallback);
break; break;
case RUNSTATE_FILTER: case RUNSTATE_FILTER:
@ -407,7 +407,7 @@ static void StateEstimationCb(void)
if (!current) { if (!current) {
runState = RUNSTATE_SAVE; runState = RUNSTATE_SAVE;
} }
DelayedCallbackDispatch(stateEstimationCallback); PIOS_CALLBACKSCHEDULER_Dispatch(stateEstimationCallback);
break; break;
case RUNSTATE_SAVE: case RUNSTATE_SAVE:
@ -460,9 +460,9 @@ static void StateEstimationCb(void)
// we are done, re-schedule next self execution // we are done, re-schedule next self execution
runState = RUNSTATE_LOAD; runState = RUNSTATE_LOAD;
if (updatedSensors) { if (updatedSensors) {
DelayedCallbackDispatch(stateEstimationCallback); PIOS_CALLBACKSCHEDULER_Dispatch(stateEstimationCallback);
} else { } else {
DelayedCallbackSchedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER); PIOS_CALLBACKSCHEDULER_Schedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER);
} }
break; break;
} }
@ -515,7 +515,7 @@ static void sensorUpdatedCb(UAVObjEvent *ev)
updatedSensors |= SENSORUPDATES_airspeed; updatedSensors |= SENSORUPDATES_airspeed;
} }
DelayedCallbackDispatch(stateEstimationCallback); PIOS_CALLBACKSCHEDULER_Dispatch(stateEstimationCallback);
} }

2
flight/modules/System/systemmod.c
View File

@ -176,7 +176,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
MODULE_TASKCREATE_ALL; MODULE_TASKCREATE_ALL;
/* start the delayed callback scheduler */ /* start the delayed callback scheduler */
CallbackSchedulerStart(); PIOS_CALLBACKSCHEDULER_Start();
if (mallocFailed) { if (mallocFailed) {
/* We failed to malloc during task creation, /* We failed to malloc during task creation,

23
flight/pios/common/pios_callbackscheduler.c
View File

@ -1,7 +1,7 @@
/** /**
****************************************************************************** ******************************************************************************
* *
* @file callbackscheduler.c * @file pios_callbackscheduler.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief Scheduler to run callback functions from a shared context with given priorities. * @brief Scheduler to run callback functions from a shared context with given priorities.
* *
@ -24,8 +24,11 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#include <openpilot.h> #include <pios.h>
#ifdef PIOS_INCLUDE_CALLBACKSCHEDULER
#include <utlist.h>
#include <uavobjectmanager.h>
#include <taskinfo.h> #include <taskinfo.h>
// Private constants // Private constants
@ -74,7 +77,7 @@ static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCa
* must be called before any other functions are called * must be called before any other functions are called
* \return Success (0), failure (-1) * \return Success (0), failure (-1)
*/ */
int32_t CallbackSchedulerInitialize() int32_t PIOS_CALLBACKSCHEDULER_Initialize()
{ {
// Initialize variables // Initialize variables
schedulerTasks = NULL; schedulerTasks = NULL;
@ -100,7 +103,7 @@ int32_t CallbackSchedulerInitialize()
* they can be marked for later execution by executing the dispatch function. * they can be marked for later execution by executing the dispatch function.
* \return Success (0), failure (-1) * \return Success (0), failure (-1)
*/ */
int32_t CallbackSchedulerStart() int32_t PIOS_CALLBACKSCHEDULER_Start()
{ {
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -144,7 +147,7 @@ int32_t CallbackSchedulerStart()
* UPDATEMODE_OVERRIDE: The callback will be rescheduled in any case, effectively overriding any previous schedule. (sooner+later=override) * UPDATEMODE_OVERRIDE: The callback will be rescheduled in any case, effectively overriding any previous schedule. (sooner+later=override)
* \return 0: not scheduled, previous schedule takes precedence, 1: new schedule, 2: previous schedule overridden * \return 0: not scheduled, previous schedule takes precedence, 1: new schedule, 2: previous schedule overridden
*/ */
int32_t DelayedCallbackSchedule( int32_t PIOS_CALLBACKSCHEDULER_Schedule(
DelayedCallbackInfo *cbinfo, DelayedCallbackInfo *cbinfo,
int32_t milliseconds, int32_t milliseconds,
DelayedCallbackUpdateMode updatemode) DelayedCallbackUpdateMode updatemode)
@ -192,7 +195,7 @@ int32_t DelayedCallbackSchedule(
* \param[in] cbinfo the callback handle * \param[in] cbinfo the callback handle
* \return Success (-1), failure (0) * \return Success (-1), failure (0)
*/ */
int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo) int32_t PIOS_CALLBACKSCHEDULER_Dispatch(DelayedCallbackInfo *cbinfo)
{ {
PIOS_Assert(cbinfo); PIOS_Assert(cbinfo);
@ -216,7 +219,7 @@ int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo)
* Check the demo task for your port to find the syntax required. * Check the demo task for your port to find the syntax required.
* \return Success (-1), failure (0) * \return Success (-1), failure (0)
*/ */
int32_t DelayedCallbackDispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken) int32_t PIOS_CALLBACKSCHEDULER_DispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken)
{ {
PIOS_Assert(cbinfo); PIOS_Assert(cbinfo);
@ -238,7 +241,7 @@ int32_t DelayedCallbackDispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigh
* \param[in] stacksize The stack requirements of the callback when called by the scheduler. * \param[in] stacksize The stack requirements of the callback when called by the scheduler.
* \return CallbackInfo Pointer on success, NULL if failed. * \return CallbackInfo Pointer on success, NULL if failed.
*/ */
DelayedCallbackInfo *DelayedCallbackCreate( DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
DelayedCallback cb, DelayedCallback cb,
DelayedCallbackPriority priority, DelayedCallbackPriority priority,
DelayedCallbackPriorityTask priorityTask, DelayedCallbackPriorityTask priorityTask,
@ -287,7 +290,7 @@ DelayedCallbackInfo *DelayedCallbackCreate(
// add to list of scheduler tasks // add to list of scheduler tasks
LL_APPEND(schedulerTasks, task); LL_APPEND(schedulerTasks, task);
// Previously registered tasks are spawned when CallbackSchedulerStart() is called. // Previously registered tasks are spawned when PIOS_CALLBACKSCHEDULER_Start() is called.
// Tasks registered afterwards need to spawn upon creation. // Tasks registered afterwards need to spawn upon creation.
if (schedulerStarted) { if (schedulerStarted) {
xTaskCreate( xTaskCreate(
@ -414,3 +417,5 @@ static void CallbackSchedulerTask(void *task)
} }
} }
} }
#endif // ifdef PIOS_INCLUDE_CALLBACKSCHEDULER

26
flight/pios/inc/pios_callbackscheduler.h
View File

@ -1,9 +1,9 @@
/** /**
****************************************************************************** ******************************************************************************
* *
* @file callbackscheduler.h * @file pios_callbackscheduler.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Include files of the uavobjectlist library * @brief Include files of the PIOS_CALLBACKSCHEDULER
* @see The GNU Public License (GPL) Version 3 * @see The GNU Public License (GPL) Version 3
* *
*****************************************************************************/ *****************************************************************************/
@ -23,8 +23,8 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#ifndef CALLBACKSCHEDULER_H #ifndef PIOS_CALLBACKSCHEDULER_H
#define CALLBACKSCHEDULER_H #define PIOS_CALLBACKSCHEDULER_H
// Public types // Public types
typedef enum { typedef enum {
@ -48,7 +48,7 @@ typedef enum {
// ...ABcABdABxABcABdAByABcABdABxABcABdABy... // ...ABcABdABxABcABdAByABcABdABxABcABdABy...
// However if only the 3 callbacks, A, c and x want to execute, you will get: // However if only the 3 callbacks, A, c and x want to execute, you will get:
// ...AcAxAcAxAcAxAcAxAcAxAcAxAcAxAcAxAcAx... // ...AcAxAcAxAcAxAcAxAcAxAcAxAcAxAcAxAcAx...
// And if onlz A and y need execution it will be: // And if only A and y need execution it will be:
// ...AyAyAyAyAyAyAyAyAyAyAyAyAyAyAyAyAyAy... // ...AyAyAyAyAyAyAyAyAyAyAyAyAyAyAyAyAyAy...
// despite their different priority they would get treated equally in this case. // despite their different priority they would get treated equally in this case.
// //
@ -113,7 +113,7 @@ typedef struct DelayedCallbackInfoStruct DelayedCallbackInfo;
* must be called before any other functions are called * must be called before any other functions are called
* \return Success (0), failure (-1) * \return Success (0), failure (-1)
*/ */
int32_t CallbackSchedulerInitialize(); int32_t PIOS_CALLBACKSCHEDULER_Initialize();
/** /**
* Start all scheduler tasks * Start all scheduler tasks
@ -125,7 +125,7 @@ int32_t CallbackSchedulerInitialize();
* they can be marked for later execution by executing the dispatch function. * they can be marked for later execution by executing the dispatch function.
* \return Success (0), failure (-1) * \return Success (0), failure (-1)
*/ */
int32_t CallbackSchedulerStart(); int32_t PIOS_CALLBACKSCHEDULER_Start();
/** /**
* Register a new callback to be called by a delayed callback scheduler task. * Register a new callback to be called by a delayed callback scheduler task.
@ -138,7 +138,7 @@ int32_t CallbackSchedulerStart();
* \param[in] callbackID - CallbackInfoRunningElem from CallbackInfo UAVObject, unique identified to collect stats for the callback, -1 to ignore! * \param[in] callbackID - CallbackInfoRunningElem from CallbackInfo UAVObject, unique identified to collect stats for the callback, -1 to ignore!
* \return CallbackInfo Pointer on success, NULL if failed. * \return CallbackInfo Pointer on success, NULL if failed.
*/ */
DelayedCallbackInfo *DelayedCallbackCreate( DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
DelayedCallback cb, DelayedCallback cb,
DelayedCallbackPriority priority, DelayedCallbackPriority priority,
DelayedCallbackPriorityTask priorityTask, DelayedCallbackPriorityTask priorityTask,
@ -157,7 +157,7 @@ DelayedCallbackInfo *DelayedCallbackCreate(
* UPDATEMODE_OVERRIDE: The callback will be rescheduled in any case, effectively overriding any previous schedule. (sooner+later=override) * UPDATEMODE_OVERRIDE: The callback will be rescheduled in any case, effectively overriding any previous schedule. (sooner+later=override)
* \return 0: not scheduled, previous schedule takes precedence, 1: new schedule, 2: previous schedule overridden * \return 0: not scheduled, previous schedule takes precedence, 1: new schedule, 2: previous schedule overridden
*/ */
int32_t DelayedCallbackSchedule( int32_t PIOS_CALLBACKSCHEDULER_Schedule(
DelayedCallbackInfo *cbinfo, DelayedCallbackInfo *cbinfo,
int32_t milliseconds, int32_t milliseconds,
DelayedCallbackUpdateMode updatemode); DelayedCallbackUpdateMode updatemode);
@ -168,7 +168,7 @@ int32_t DelayedCallbackSchedule(
* \param[in] *cbinfo the callback handle * \param[in] *cbinfo the callback handle
* \return Success (-1), failure (0) * \return Success (-1), failure (0)
*/ */
int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo); int32_t PIOS_CALLBACKSCHEDULER_Dispatch(DelayedCallbackInfo *cbinfo);
/** /**
* Dispatch an event by invoking the supplied callback. The function * Dispatch an event by invoking the supplied callback. The function
@ -184,6 +184,6 @@ int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo);
* Check the demo task for your port to find the syntax required. * Check the demo task for your port to find the syntax required.
* \return Success (-1), failure (0) * \return Success (-1), failure (0)
*/ */
int32_t DelayedCallbackDispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken); int32_t PIOS_CALLBACKSCHEDULER_DispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken);
#endif // CALLBACKSCHEDULER_H #endif // PIOS_CALLBACKSCHEDULER_H

2
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -198,7 +198,7 @@ void PIOS_Board_Init(void)
} }
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

2
flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
View File

@ -39,7 +39,7 @@ void PIOS_Board_Init(void)
PIOS_DELAY_Init(); PIOS_DELAY_Init();
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

2
flight/targets/boards/oplinkmini/firmware/pios_board.c
View File

@ -106,7 +106,7 @@ void PIOS_Board_Init(void)
} }
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

2
flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
View File

@ -39,7 +39,7 @@ void PIOS_Board_Init(void)
PIOS_DELAY_Init(); PIOS_DELAY_Init();
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

2
flight/targets/boards/osd/firmware/pios_board.c
View File

@ -178,7 +178,7 @@ void PIOS_Board_Init(void)
} }
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

2
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -404,7 +404,7 @@ void PIOS_Board_Init(void)
} }
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

2
flight/targets/boards/revolution/firmware/pios_board_sim.c
View File

@ -132,7 +132,7 @@ void PIOS_Board_Init(void)
PIOS_DELAY_Init(); PIOS_DELAY_Init();
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

2
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -444,7 +444,7 @@ void PIOS_Board_Init(void)
} }
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

2
flight/targets/boards/revoproto/firmware/pios_board_sim.c
View File

@ -132,7 +132,7 @@ void PIOS_Board_Init(void)
PIOS_DELAY_Init(); PIOS_DELAY_Init();
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

2
flight/targets/boards/simposix/firmware/pios_board.c
View File

@ -132,7 +132,7 @@ void PIOS_Board_Init(void)
} }
/* Initialize the delayed callback library */ /* Initialize the delayed callback library */
CallbackSchedulerInitialize(); PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */ /* Initialize UAVObject libraries */
EventDispatcherInitialize(); EventDispatcherInitialize();

8
flight/uavobjects/eventdispatcher.c
View File

@ -103,8 +103,8 @@ int32_t EventDispatcherInitialize()
mQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo)); mQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo));
// Create callback // Create callback
eventSchedulerCallback = DelayedCallbackCreate(&eventTask, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_EVENTDISPATCHER, STACK_SIZE * 4); eventSchedulerCallback = PIOS_CALLBACKSCHEDULER_Create(&eventTask, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_EVENTDISPATCHER, STACK_SIZE * 4);
DelayedCallbackDispatch(eventSchedulerCallback); PIOS_CALLBACKSCHEDULER_Dispatch(eventSchedulerCallback);
// Done // Done
return 0; return 0;
@ -148,7 +148,7 @@ int32_t EventCallbackDispatch(UAVObjEvent *ev, UAVObjEventCallback cb)
evInfo.queue = 0; evInfo.queue = 0;
// Push to queue // Push to queue
int32_t result = xQueueSend(mQueue, &evInfo, 0); // will not block if queue is full int32_t result = xQueueSend(mQueue, &evInfo, 0); // will not block if queue is full
DelayedCallbackDispatch(eventSchedulerCallback); PIOS_CALLBACKSCHEDULER_Dispatch(eventSchedulerCallback);
return result; return result;
} }
@ -306,7 +306,7 @@ static void eventTask()
timeToNextUpdateMs = processPeriodicUpdates(); timeToNextUpdateMs = processPeriodicUpdates();
} }
DelayedCallbackSchedule(eventSchedulerCallback, timeToNextUpdateMs - (xTaskGetTickCount() * portTICK_RATE_MS), CALLBACK_UPDATEMODE_SOONER); PIOS_CALLBACKSCHEDULER_Schedule(eventSchedulerCallback, timeToNextUpdateMs - (xTaskGetTickCount() * portTICK_RATE_MS), CALLBACK_UPDATEMODE_SOONER);
} }
/** /**