{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/6262","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/6262/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/6262/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/6262/events","html_url":"https://github.com/ArduPilot/ardupilot/pull/6262","id":229141419,"node_id":"MDExOlB1bGxSZXF1ZXN0MTIwOTA1MTI5","number":6262,"title":"WIP: AP_Scheduler: template use for 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on https://github.com/ArduPilot/ardupilot/pull/4795\r\n\r\nPX4 plane version:\r\n967980 with template\r\n968796 without template\r\n\r\nPX4 copter:\r\n964804 with template\r\n966380 without template"},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/395297999","html_url":"https://github.com/ArduPilot/ardupilot/pull/6262#issuecomment-395297999","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/6262","id":395297999,"node_id":"MDEyOklzc3VlQ29tbWVudDM5NTI5Nzk5OQ==","user":{"login":"peterbarker","id":7077857,"node_id":"MDQ6VXNlcjcwNzc4NTc=","avatar_url":"https://avatars0.githubusercontent.com/u/7077857?v=4","gravatar_id":"","url":"https://api.github.com/users/peterbarker","html_url":"https://github.com/peterbarker","followers_url":"https://api.github.com/users/peterbarker/followers","following_url":"https://api.github.com/users/peterbarker/following{/other_user}","gists_url":"https://api.github.com/users/peterbarker/gists{/gist_id}","starred_url":"https://api.github.com/users/peterbarker/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/peterbarker/subscriptions","organizations_url":"https://api.github.com/users/peterbarker/orgs","repos_url":"https://api.github.com/users/peterbarker/repos","events_url":"https://api.github.com/users/peterbarker/events{/privacy}","received_events_url":"https://api.github.com/users/peterbarker/received_events","type":"User","site_admin":false},"created_at":"2018-06-07T05:31:18Z","updated_at":"2018-06-07T05:31:18Z","author_association":"CONTRIBUTOR","body":"On Wed, 6 Jun 2018, Eugene Shamaev wrote:\n\n> As most of the reasons against real preemptive scheduling are gone, I have a\n> feeling that the whole scheduling should be rewritten to use OS threads. I\n> am strongly against cooperative in house scheduling as it is now. This is my\n> personal view of real time systems and may contradict with the vision of\n> other developers, so I am not trying to argue with anyone.\n\nFair enough.\n\nHowever, moving even *some* of these \"tasks\" (using the term loosely) out \nof the scheduler table (and this the main thread) would be extremely \ntricky.  We don't protect the vast majority of our data against your \ntypical threading issues.\n\nFor interest's sake - can you name any of these tasks that would be \neasily moved into their own thread?  I've never run my eye across them \nwith that in mind.\n"}}
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