uavcan::Scheduler Class Reference

#include <scheduler.hpp>

Inheritance diagram for uavcan::Scheduler:

Classes
struct	InsideSpinSetter

Public Member Functions
MonotonicDuration	getCleanupPeriod () const
MonotonicDuration	getDeadlineResolution () const
DeadlineScheduler &	getDeadlineScheduler ()
Dispatcher &	getDispatcher ()
const Dispatcher &	getDispatcher () const
MonotonicTime	getMonotonicTime () const
ISystemClock &	getSystemClock ()
UtcTime	getUtcTime () const
	Scheduler (ICanDriver &can_driver, IPoolAllocator &allocator, ISystemClock &sysclock)
void	setCleanupPeriod (MonotonicDuration period)
void	setDeadlineResolution (MonotonicDuration res)
int	spin (MonotonicTime deadline)
int	spinOnce ()

Private Types
enum	{ DefaultDeadlineResolutionMs = 5 }
enum	{ MinDeadlineResolutionMs = 1 }
enum	{ MaxDeadlineResolutionMs = 100 }
enum	{ DefaultCleanupPeriodMs = 1000 }
enum	{ MinCleanupPeriodMs = 10 }
enum	{ MaxCleanupPeriodMs = 10000 }

Private Member Functions
MonotonicTime	computeDispatcherSpinDeadline (MonotonicTime spin_deadline) const
void	pollCleanup (MonotonicTime mono_ts, uint32_t num_frames_processed_with_last_spin)
Private Member Functions inherited from uavcan::Noncopyable
	Noncopyable ()
	~Noncopyable ()

Private Attributes
MonotonicDuration	cleanup_period_
MonotonicDuration	deadline_resolution_
DeadlineScheduler	deadline_scheduler_
Dispatcher	dispatcher_
bool	inside_spin_
MonotonicTime	prev_cleanup_ts_

Detailed Description

This class distributes processing time between library components (IO handling, deadline callbacks, ...).

Definition at line 63 of file scheduler.hpp.

Member Enumeration Documentation

anonymous enum

anonymous enum

private

Enumerator
DefaultDeadlineResolutionMs

Definition at line 65 of file scheduler.hpp.

anonymous enum

anonymous enum

private

Enumerator
MinDeadlineResolutionMs

Definition at line 66 of file scheduler.hpp.

anonymous enum

anonymous enum

private

Enumerator
MaxDeadlineResolutionMs

Definition at line 67 of file scheduler.hpp.

anonymous enum

anonymous enum

private

Enumerator
DefaultCleanupPeriodMs

Definition at line 69 of file scheduler.hpp.

anonymous enum

anonymous enum

private

Enumerator
MinCleanupPeriodMs

Definition at line 70 of file scheduler.hpp.

anonymous enum

anonymous enum

private

Enumerator
MaxCleanupPeriodMs

Definition at line 71 of file scheduler.hpp.

Constructor & Destructor Documentation

Scheduler()

uavcan::Scheduler::Scheduler ( ICanDriver &  can_driver, IPoolAllocator &  allocator, ISystemClock &  sysclock  )

inline

Definition at line 95 of file scheduler.hpp.

Member Function Documentation

computeDispatcherSpinDeadline()

MonotonicTime uavcan::Scheduler::computeDispatcherSpinDeadline ( MonotonicTime  spin_deadline ) const

private

Definition at line 129 of file uc_scheduler.cpp.

getCleanupPeriod()

MonotonicDuration uavcan::Scheduler::getCleanupPeriod ( ) const

inline

How often the scheduler will run cleanup (listeners, outgoing transfer registry, ...). Cleanup execution time grows linearly with number of listeners and number of items in the Outgoing Transfer ID registry. Lower period increases CPU usage.

Definition at line 144 of file scheduler.hpp.

getDeadlineResolution()

MonotonicDuration uavcan::Scheduler::getDeadlineResolution ( ) const

inline

Worst case deadline callback resolution. Higher resolution increases CPU usage.

Definition at line 130 of file scheduler.hpp.

getDeadlineScheduler()

DeadlineScheduler& uavcan::Scheduler::getDeadlineScheduler ( )

inline

Definition at line 117 of file scheduler.hpp.

getDispatcher() [1/2]

Dispatcher& uavcan::Scheduler::getDispatcher ( )

inline

Definition at line 119 of file scheduler.hpp.

getDispatcher() [2/2]

const Dispatcher& uavcan::Scheduler::getDispatcher ( ) const

inline

Definition at line 120 of file scheduler.hpp.

getMonotonicTime()

MonotonicTime uavcan::Scheduler::getMonotonicTime ( ) const

inline

Definition at line 123 of file scheduler.hpp.

getSystemClock()

ISystemClock& uavcan::Scheduler::getSystemClock ( )

inline

Definition at line 122 of file scheduler.hpp.

getUtcTime()

UtcTime uavcan::Scheduler::getUtcTime ( ) const

inline

Definition at line 124 of file scheduler.hpp.

pollCleanup()

void uavcan::Scheduler::pollCleanup ( MonotonicTime  mono_ts, uint32_t  num_frames_processed_with_last_spin  )

private

Definition at line 143 of file uc_scheduler.cpp.

setCleanupPeriod()

void uavcan::Scheduler::setCleanupPeriod ( MonotonicDuration  period )

inline

Definition at line 145 of file scheduler.hpp.

setDeadlineResolution()

void uavcan::Scheduler::setDeadlineResolution ( MonotonicDuration  res )

inline

Definition at line 131 of file scheduler.hpp.

spin()

int uavcan::Scheduler::spin

(

MonotonicTime

deadline

)

Spin until the deadline, or until some error occurs. This function will return strictly when the deadline is reached, even if there are unprocessed frames. Returns negative error code.

Definition at line 155 of file uc_scheduler.cpp.

spinOnce()

int uavcan::Scheduler::spinOnce

(

)

Non-blocking version of spin() - spins until all pending frames and events are processed, or until some error occurs. If there's nothing to do, returns immediately. Returns negative error code.

Definition at line 186 of file uc_scheduler.cpp.

Member Data Documentation

cleanup_period_

MonotonicDuration uavcan::Scheduler::cleanup_period_

private

Definition at line 77 of file scheduler.hpp.

deadline_resolution_

MonotonicDuration uavcan::Scheduler::deadline_resolution_

private

Definition at line 76 of file scheduler.hpp.

deadline_scheduler_

DeadlineScheduler uavcan::Scheduler::deadline_scheduler_

private

Definition at line 73 of file scheduler.hpp.

dispatcher_

Dispatcher uavcan::Scheduler::dispatcher_

private

Definition at line 74 of file scheduler.hpp.

inside_spin_

bool uavcan::Scheduler::inside_spin_

private

Definition at line 78 of file scheduler.hpp.

prev_cleanup_ts_

MonotonicTime uavcan::Scheduler::prev_cleanup_ts_

private

Definition at line 75 of file scheduler.hpp.

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The documentation for this class was generated from the following files:

• scheduler.hpp
• uc_scheduler.cpp