diff options
| -rw-r--r-- | src/TaskScheduler.h | 45 |
1 files changed, 24 insertions, 21 deletions
diff --git a/src/TaskScheduler.h b/src/TaskScheduler.h index 50a1aec..aa0a05a 100644 --- a/src/TaskScheduler.h +++ b/src/TaskScheduler.h @@ -71,6 +71,8 @@ // // v1.9.1: // 2015-11-28 - _TASK_ROLLOVER_FIX is deprecated (not necessary) +// 2015-12-17 - new method for _TASK_TIMECRITICAL option: getStartDelay() + /* ============================================ Cooperative multitasking library code is placed under the MIT license @@ -187,6 +189,7 @@ class Task { inline void setOnDisable(void (*aCallback)()) { iOnDisable = aCallback; } #ifdef _TASK_TIMECRITICAL inline long getOverrun() { return iOverrun; } + inline long getStartDelay() { return iStartDelay; } #endif inline bool isFirstIteration() { return (iRunCounter <= 1); } inline bool isLastIteration() { return (iIterations == 0); } @@ -215,6 +218,7 @@ class Task { volatile unsigned long iPreviousMillis; // previous invocation time (millis). Next invocation = iPreviousMillis + iInterval. Delayed tasks will "catch up" #ifdef _TASK_TIMECRITICAL volatile long iOverrun; // negative if task is "catching up" to it's schedule (next invocation time is already in the past) + volatile long iStartDelay; // actual execution of the task's callback method was delayed by this number of millis #endif volatile long iIterations; // number of iterations left. 0 - last iteration. -1 - infinite iterations long iSetIterations; // number of iterations originally requested (for restarts) @@ -360,6 +364,7 @@ void Task::reset() { iRunCounter = 0; #ifdef _TASK_TIMECRITICAL iOverrun = 0; + iStartDelay = 0; #endif #ifdef _TASK_WDT_IDS iControlPoint = 0; @@ -593,18 +598,17 @@ void Scheduler::execute() { #ifdef _TASK_SLEEP_ON_IDLE_RUN bool idleRun = true; #endif -// unsigned long targetMillis; - register unsigned long m, p, i; //, d; + register unsigned long m, i; // millis, interval; iCurrent = iFirst; while (iCurrent) { do { if ( iCurrent->iStatus.enabled ) { - #ifdef _TASK_WDT_IDS +#ifdef _TASK_WDT_IDS // For each task the control points are initialized to avoid confusion because of carry-over: iCurrent->iControlPoint = 0; - #endif +#endif // Disable task on last iteration: if (iCurrent->iIterations == 0) { @@ -613,8 +617,7 @@ void Scheduler::execute() { } m = millis(); i = iCurrent->iInterval; -// d = iCurrent->iDelay; - #ifdef _TASK_STATUS_REQUEST +#ifdef _TASK_STATUS_REQUEST // If StatusRequest object was provided, and still pending, and task is waiting, this task should not run // Otherwise, continue with execution as usual. Tasks waiting to StatusRequest need to be rescheduled according to // how they were placed into waiting state (waitFor or waitForDelayed) @@ -628,27 +631,27 @@ void Scheduler::execute() { } iCurrent->iStatus.waiting = 0; } - #endif - p = iCurrent->iPreviousMillis; - - // targetMillis = p + i; - if ( m - p < iCurrent->iDelay ) break; - - #ifdef _TASK_TIMECRITICAL - // Updated_previous+current interval should put us into the future, so iOverrun should be positive or zero. - // If negative - the task is behind (next execution time is already in the past) - iCurrent->iOverrun = (long) ( p - m + (i<<1) ); - #endif +#endif + if ( m - iCurrent->iPreviousMillis < iCurrent->iDelay ) break; + if ( iCurrent->iIterations > 0 ) iCurrent->iIterations--; // do not decrement (-1) being a signal of never-ending task iCurrent->iRunCounter++; - iCurrent->iPreviousMillis = p + iCurrent->iDelay; + iCurrent->iPreviousMillis += iCurrent->iDelay; + +#ifdef _TASK_TIMECRITICAL + // Updated_previous+current interval should put us into the future, so iOverrun should be positive or zero. + // If negative - the task is behind (next execution time is already in the past) + unsigned long p = iCurrent->iPreviousMillis; + iCurrent->iOverrun = (long) ( p + i - m ); + iCurrent->iStartDelay = (long) ( m - p ); +#endif + iCurrent->iDelay = i; -// iCurrent->iDelay = iCurrent->iInterval; // get rid of one time delay if ( iCurrent->iCallback ) { ( *(iCurrent->iCallback) )(); - #ifdef _TASK_SLEEP_ON_IDLE_RUN +#ifdef _TASK_SLEEP_ON_IDLE_RUN idleRun = false; - #endif +#endif } } } while (0); //guaranteed single run - allows use of "break" to exit |