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Code Issues Releases Activity

OP-942 API change to CallbackScheduler - include unique ID for each callback for a taskinfo like UAVObject

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This commit is contained in:
Corvus Corax 2014-02-02 19:54:17 +01:00
parent 0e163b7d97
commit b076ba02a1
15 changed files with 37 additions and 18 deletions
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4
flight/modules/AltitudeHold/altitudehold.c
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@ -45,6 +45,8 @@
#include <openpilot.h>
#include <callbackinfo.h>
#include <math.h>
#include <pid.h>
#include <CoordinateConversions.h>
@ -101,7 +103,7 @@ int32_t AltitudeHoldInitialize()
// Create object queue
altitudeHoldCBInfo = DelayedCallbackCreate(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, STACK_SIZE_BYTES);
altitudeHoldCBInfo = DelayedCallbackCreate(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_ALTITUDEHOLD, STACK_SIZE_BYTES);
AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb);
return 0;

14
flight/modules/CallbackTest/callbacktest.c
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@ -65,13 +65,13 @@ int32_t CallbackTestInitialize()
{
mutex = xSemaphoreCreateRecursiveMutex();
cbinfo[0] = DelayedCallbackCreate(&DelayedCb0, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, STACK_SIZE);
cbinfo[1] = DelayedCallbackCreate(&DelayedCb1, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, STACK_SIZE);
cbinfo[2] = DelayedCallbackCreate(&DelayedCb2, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, STACK_SIZE);
cbinfo[3] = DelayedCallbackCreate(&DelayedCb3, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, STACK_SIZE);
cbinfo[4] = DelayedCallbackCreate(&DelayedCb4, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, STACK_SIZE);
cbinfo[5] = DelayedCallbackCreate(&DelayedCb5, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, STACK_SIZE);
cbinfo[6] = DelayedCallbackCreate(&DelayedCb6, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 20, STACK_SIZE);
cbinfo[0] = DelayedCallbackCreate(&DelayedCb0, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[1] = DelayedCallbackCreate(&DelayedCb1, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[2] = DelayedCallbackCreate(&DelayedCb2, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[3] = DelayedCallbackCreate(&DelayedCb3, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[4] = DelayedCallbackCreate(&DelayedCb4, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[5] = DelayedCallbackCreate(&DelayedCb5, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
cbinfo[6] = DelayedCallbackCreate(&DelayedCb6, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 20, -1, STACK_SIZE);
return 0;

3
flight/modules/Example/examplemodcallback.c
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@ -45,6 +45,7 @@
*/
#include "openpilot.h"
#include "callbackinfo.h" // object needed for callback id macro CALLBACKINFO_RUNNING_<MODULENAME>
#include "exampleobject1.h" // object the module will listen for updates (input)
#include "exampleobject2.h" // object the module will update (output)
#include "examplesettings.h" // object holding module settings (input)
@ -71,7 +72,7 @@ int32_t ExampleModCallbackInitialize()
// Listen for ExampleObject1 updates, connect a callback function
ExampleObject1ConnectCallback(&ObjectUpdatedCb);
cbinfo = DelayedCallbackCreate(&DelayedCb, CALLBACK_PRIORITY, CBTASK_PRIORITY, STACK_SIZE);
cbinfo = DelayedCallbackCreate(&DelayedCb, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_EXAMPLE, STACK_SIZE);
return 0;
}

5
flight/modules/PathPlanner/pathplanner.c
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@ -31,6 +31,7 @@
#include "openpilot.h"
#include "callbackinfo.h"
#include "pathplan.h"
#include "flightstatus.h"
#include "airspeedstate.h"
@ -115,8 +116,8 @@ int32_t PathPlannerInitialize()
WaypointInitialize();
WaypointActiveInitialize();
pathPlannerHandle = DelayedCallbackCreate(&pathPlannerTask, CALLBACK_PRIORITY_REGULAR, TASK_PRIORITY, STACK_SIZE_BYTES);
pathDesiredUpdaterHandle = DelayedCallbackCreate(&updatePathDesired, CALLBACK_PRIORITY_CRITICAL, TASK_PRIORITY, STACK_SIZE_BYTES);
pathPlannerHandle = DelayedCallbackCreate(&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);
return 0;
}

4
flight/modules/StateEstimation/stateestimation.c
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@ -31,6 +31,8 @@
#include "inc/stateestimation.h"
#include <callbackinfo.h>
#include <gyrosensor.h>
#include <accelsensor.h>
#include <magsensor.h>
@ -266,7 +268,7 @@ int32_t StateEstimationInitialize(void)
stack_required = maxint32_t(stack_required, filterEKF13iInitialize(&ekf13iFilter));
stack_required = maxint32_t(stack_required, filterEKF13Initialize(&ekf13Filter));
stateEstimationCallback = DelayedCallbackCreate(&StateEstimationCb, CALLBACK_PRIORITY, TASK_PRIORITY, stack_required);
stateEstimationCallback = DelayedCallbackCreate(&StateEstimationCb, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_STATEESTIMATION, stack_required);
return 0;
}

3
flight/modules/System/systemmod.c
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@ -52,7 +52,7 @@
#include <i2cstats.h>
#include <taskinfo.h>
#include <watchdogstatus.h>
#include <taskinfo.h>
#include <callbackinfo.h>
#include <hwsettings.h>
#include <pios_flashfs.h>
#if defined(PIOS_INCLUDE_RFM22B)
@ -147,6 +147,7 @@ int32_t SystemModInitialize(void)
ObjectPersistenceInitialize();
#ifdef DIAG_TASKS
TaskInfoInitialize();
CallbackInfoInitialize();
#endif
#ifdef DIAG_I2C_WDG_STATS
I2CStatsInitialize();

1
flight/targets/boards/coptercontrol/firmware/Makefile
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@ -112,6 +112,7 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/relaytuningsettings.c
SRC += $(OPUAVSYNTHDIR)/relaytuning.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/ratedesired.c
SRC += $(OPUAVSYNTHDIR)/barosensor.c

1
flight/targets/boards/osd/firmware/Makefile
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@ -84,6 +84,7 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
SRC += $(OPUAVSYNTHDIR)/homelocation.c
SRC += $(OPUAVSYNTHDIR)/gpspositionsensor.c

1
flight/targets/boards/revolution/firmware/UAVObjects.inc
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@ -90,6 +90,7 @@ UAVOBJSRCFILENAMES += systemalarms
UAVOBJSRCFILENAMES += systemsettings
UAVOBJSRCFILENAMES += systemstats
UAVOBJSRCFILENAMES += taskinfo
UAVOBJSRCFILENAMES += callbackinfo
UAVOBJSRCFILENAMES += velocitystate
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus

1
flight/targets/boards/revoproto/firmware/UAVObjects.inc
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@ -90,6 +90,7 @@ UAVOBJSRCFILENAMES += systemalarms
UAVOBJSRCFILENAMES += systemsettings
UAVOBJSRCFILENAMES += systemstats
UAVOBJSRCFILENAMES += taskinfo
UAVOBJSRCFILENAMES += callbackinfo
UAVOBJSRCFILENAMES += velocitystate
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus

1
flight/targets/boards/simposix/firmware/UAVObjects.inc
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@ -90,6 +90,7 @@ UAVOBJSRCFILENAMES += systemalarms
UAVOBJSRCFILENAMES += systemsettings
UAVOBJSRCFILENAMES += systemstats
UAVOBJSRCFILENAMES += taskinfo
UAVOBJSRCFILENAMES += callbackinfo
UAVOBJSRCFILENAMES += velocitystate
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus

9
flight/uavobjects/callbackscheduler.c
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@ -52,6 +52,7 @@ struct DelayedCallbackTaskStruct {
*/
struct DelayedCallbackInfoStruct {
DelayedCallback cb;
int16_t callbackID;
bool volatile waiting;
uint32_t volatile scheduletime;
struct DelayedCallbackTaskStruct *task;
@ -241,6 +242,7 @@ DelayedCallbackInfo *DelayedCallbackCreate(
DelayedCallback cb,
DelayedCallbackPriority priority,
DelayedCallbackPriorityTask priorityTask,
int16_t callbackID,
uint32_t stacksize)
{
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -318,11 +320,12 @@ DelayedCallbackInfo *DelayedCallbackCreate(
xSemaphoreGiveRecursive(mutex);
return NULL; // error - not enough memory
}
info->next = NULL;
info->waiting = false;
info->next = NULL;
info->waiting = false;
info->scheduletime = 0;
info->task = task;
info->task = task;
info->cb = cb;
info->callbackID = callbackID;
// add to scheduling queue
LL_APPEND(task->callbackQueue[priority], info);

4
flight/uavobjects/eventdispatcher.c
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@ -26,7 +26,7 @@
#include <openpilot.h>
#include <taskinfo.h>
#include <callbackinfo.h>
// Private constants
#if defined(PIOS_EVENTDISAPTCHER_QUEUE)
@ -103,7 +103,7 @@ int32_t EventDispatcherInitialize()
mQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo));
// Create callback
eventSchedulerCallback = DelayedCallbackCreate(&eventTask, CALLBACK_PRIORITY, TASK_PRIORITY, STACK_SIZE * 4);
eventSchedulerCallback = DelayedCallbackCreate(&eventTask, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_EVENTDISPATCHER, STACK_SIZE * 4);
DelayedCallbackDispatch(eventSchedulerCallback);
// Done

2
flight/uavobjects/inc/callbackscheduler.h
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@ -135,12 +135,14 @@ int32_t CallbackSchedulerStart();
* \param[in] priority Priority of the callback compared to other callbacks scheduled by the same delayed callback scheduler task.
* \param[in] priorityTask Task priority of the scheduler task. One scheduler task will be spawned for each distinct value specified, further callbacks created with the same priorityTask will all be handled by the same delayed callback scheduler task and scheduled according to their individual callback priorities
* \param[in] stacksize The stack requirements of the callback when called by the scheduler.
* \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.
*/
DelayedCallbackInfo *DelayedCallbackCreate(
DelayedCallback cb,
DelayedCallbackPriority priority,
DelayedCallbackPriorityTask priorityTask,
int16_t callbackID,
uint32_t stacksize);
/**

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
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@ -102,6 +102,7 @@ HEADERS += \
$$UAVOBJECT_SYNTHETICS/i2cstats.h \
$$UAVOBJECT_SYNTHETICS/flightbatterysettings.h \
$$UAVOBJECT_SYNTHETICS/taskinfo.h \
$$UAVOBJECT_SYNTHETICS/callbackinfo.h \
$$UAVOBJECT_SYNTHETICS/flightplanstatus.h \
$$UAVOBJECT_SYNTHETICS/flightplansettings.h \
$$UAVOBJECT_SYNTHETICS/flightplancontrol.h \
@ -200,6 +201,7 @@ SOURCES += \
$$UAVOBJECT_SYNTHETICS/i2cstats.cpp \
$$UAVOBJECT_SYNTHETICS/flightbatterysettings.cpp \
$$UAVOBJECT_SYNTHETICS/taskinfo.cpp \
$$UAVOBJECT_SYNTHETICS/callbackinfo.cpp \
$$UAVOBJECT_SYNTHETICS/flightplanstatus.cpp \
$$UAVOBJECT_SYNTHETICS/flightplansettings.cpp \
$$UAVOBJECT_SYNTHETICS/flightplancontrol.cpp \