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Scheduler checks its timing configs

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Pavel Kirienko
2014-03-08 18:54:22 +04:00
parent 7b4ef80c40
commit 7cb85561bf
1 changed files with 17 additions and 2 deletions
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libuavcan/include/uavcan/scheduler.hpp
+17 -2
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@@ -59,7 +59,12 @@ public:
class Scheduler : Noncopyable
{
enum { DefaultMonotonicDeadlineResolutionMs = 5 };
enum { MinMonotonicDeadlineResolutionMs = 1 };
enum { MaxMonotonicDeadlineResolutionMs = 100 };
enum { DefaultCleanupPeriodMs = 1000 };
enum { MinCleanupPeriodMs = 10 };
enum { MaxCleanupPeriodMs = 10000 };
MonotonicDeadlineScheduler deadline_scheduler_;
Dispatcher dispatcher_;
@@ -89,10 +94,20 @@ public:
uint64_t getUtcTimestamp() const { return dispatcher_.getSystemClock().getUtcMicroseconds(); }
uint64_t getMonotonicDeadlineResolution() const { return monotonic_deadline_resolution_; }
void setMonotonicDeadlineResolution(uint64_t res_usec) { monotonic_deadline_resolution_ = res_usec; }
void setMonotonicDeadlineResolution(uint64_t res_usec)
{
res_usec = std::min(res_usec, MaxMonotonicDeadlineResolutionMs * uint64_t(1000));
res_usec = std::max(res_usec, MinMonotonicDeadlineResolutionMs * uint64_t(1000));
monotonic_deadline_resolution_ = res_usec;
}
uint64_t getCleanupPeriod() const { return cleanup_period_; }
void setCleanupPeriod(uint64_t period_usec) { cleanup_period_ = period_usec; }
void setCleanupPeriod(uint64_t period_usec)
{
period_usec = std::min(period_usec, MaxCleanupPeriodMs * uint64_t(1000));
period_usec = std::max(period_usec, MinCleanupPeriodMs * uint64_t(1000));
cleanup_period_ = period_usec;
}
};
}