diff options
Diffstat (limited to 'src/TaskScheduler.h')
| -rw-r--r-- | src/TaskScheduler.h | 133 |
1 files changed, 86 insertions, 47 deletions
diff --git a/src/TaskScheduler.h b/src/TaskScheduler.h index 634852f..b1f3ca0 100644 --- a/src/TaskScheduler.h +++ b/src/TaskScheduler.h @@ -1,23 +1,23 @@ -// Cooperative multitasking library for Arduino version 1.8.1 +// Cooperative multitasking library for Arduino version 1.8.2 // Copyright (c) 2015 Anatoli Arkhipenko // // Changelog: // v1.0.0: // 2015-02-24 - Initial release -// 2015-02-28 - added delay() and disableOnLastIteration() functions -// 2015-03-25 - changed scheduler execute() function for a more precise delay calculation: +// 2015-02-28 - added delay() and disableOnLastIteration() methods +// 2015-03-25 - changed scheduler execute() method for a more precise delay calculation: // 1. Do not delay if any of the tasks ran (making request for immediate execution redundant) // 2. Delay is invoked only if none of the tasks ran -// 3. Delay is based on the min anticipated wait until next task _AND_ the runtime of execute function itself. -// 2015-05-11 - added restart() and restartDelayed() functions to restart tasks which are on hold after running all iterations +// 3. Delay is based on the min anticipated wait until next task _AND_ the runtime of execute method itself. +// 2015-05-11 - added restart() and restartDelayed() methods to restart tasks which are on hold after running all iterations // 2015-05-19 - completely removed delay from the scheduler since there are no power saving there. using 1 ms sleep instead // // v1.4.1: -// 2015-09-15 - more careful placement of AVR-specific includes for sleep functions (compatibility with DUE) +// 2015-09-15 - more careful placement of AVR-specific includes for sleep method (compatibility with DUE) // sleep on idle run is no longer a default and should be explicitly compiled with _TASK_SLEEP_ON_IDLE_RUN defined // // v1.5.0: -// 2015-09-20 - access to currently executing task (for callback functions) +// 2015-09-20 - access to currently executing task (for callback methods) // 2015-09-20 - pass scheduler as a parameter to the task constructor to append the task to the end of the chain // 2015-09-20 - option to create a task already enabled // @@ -32,10 +32,10 @@ // 2015-10-01 - made version numbers semver compliant (documentation only) // // v1.7.0: -// 2015-10-08 - introduced callback run counter - callback functions can branch on the iteration number. +// 2015-10-08 - introduced callback run counter - callback methods can branch on the iteration number. // 2015-10-11 - enableIfNot() - enable a task only if it is not already enabled. Returns true if was already enabled, false if was disabled. // 2015-10-11 - disable() returns previous enable state (true if was enabled, false if was already disabled) -// 2015-10-11 - introduced callback functions "on enable" and "on disable". On enable runs every time enable is called, on disable runs only if task was enabled +// 2015-10-11 - introduced callback methods "on enable" and "on disable". On enable runs every time enable is called, on disable runs only if task was enabled // 2015-10-12 - new Task method: forceNextIteration() - makes next iteration happen immediately during the next pass regardless how much time is left // // v1.8.0: @@ -44,6 +44,13 @@ // // v1.8.1: // 2015-10-22 - implement Task id and control points to support identification of failure points for watchdog timer logging +// +// v1.8.2: +// 2015-10-27 - implement Local Task Storage Pointer (allow use of same callback code for different tasks) +// 2015-10-27 - bug: currentTask() method returns incorrect Task reference if called within OnEnable and OnDisable methods +// 2015-10-27 - protection against infinite loop in OnEnable (if enable() methods are called within OnEnable) +// 2015-10-29 - new currentLts() method in the scheduler class returns current task's LTS pointer in one call + /* ============================================ Cooperative multitasking library code is placed under the MIT license @@ -80,10 +87,11 @@ THE SOFTWARE. * The following "defines" control library functionality at compile time, * and should be used in the main sketch depending on the functionality required * - * #define _TASK_TIMECRITICAL // Enable monitoring scheduling overruns - * #define _TASK_SLEEP_ON_IDLE_RUN // Enable 1 ms SLEEP_IDLE powerdowns between tasks if no callback functions were invoked during the pass - * #define _TASK_STATUS_REQUEST // Compile with support for StatusRequest functionality - triggering tasks on status change events in addition to time only - * #define _TASK_WDT_IDS // Compile with support of wdt control points and task ids + * #define _TASK_TIMECRITICAL // Enable monitoring scheduling overruns + * #define _TASK_SLEEP_ON_IDLE_RUN // Enable 1 ms SLEEP_IDLE powerdowns between tasks if no callback methods were invoked during the pass + * #define _TASK_STATUS_REQUEST // Compile with support for StatusRequest functionality - triggering tasks on status change events in addition to time only + * #define _TASK_WDT_IDS // Compile with support for wdt control points and task ids + * #define _TASK_LTS_POINTER // Compile with support for local task storage pointer */ #ifdef _TASK_SLEEP_ON_IDLE_RUN @@ -104,34 +112,13 @@ class StatusRequest { inline int getStatus() { return iStatus; } private: - unsigned int iCount; + unsigned int iCount; // waiting for more that 65000 events seems unreasonable: unsigned int should be sufficient int iStatus; // negative = error; zero = OK; >positive = OK with a specific status }; #endif -class Task; - -class Scheduler { - public: - Scheduler(); - inline void init() { iFirst = NULL; iLast = NULL; iCurrent = NULL; } - void addTask(Task& aTask); - void deleteTask(Task& aTask); - void disableAll(); - void enableAll(); - void execute(); - inline Task& currentTask() {return *iCurrent; } -#ifdef _TASK_SLEEP_ON_IDLE_RUN - void allowSleep(bool aState = true) { iAllowSleep = aState; } -#endif - - private: - Task *iFirst, *iLast, *iCurrent; -#ifdef _TASK_SLEEP_ON_IDLE_RUN - bool iAllowSleep; -#endif -}; +class Scheduler; class Task { friend class Scheduler; @@ -174,12 +161,16 @@ class Task { inline void setControlPoint(unsigned int aPoint) { iControlPoint = aPoint; } inline unsigned int getControlPoint() { return iControlPoint; } #endif - +#ifdef _TASK_LTS_POINTER + inline void setLtsPointer(void *aPtr) { iLTS = aPtr; } + inline void* getLtsPointer() { return iLTS; } +#endif private: void reset(); volatile bool iEnabled; + bool iInOnEnable; volatile unsigned long iInterval; volatile unsigned long iPreviousMillis; #ifdef _TASK_TIMECRITICAL @@ -200,6 +191,34 @@ class Task { unsigned int iTaskID; unsigned int iControlPoint; #endif +#ifdef _TASK_LTS_POINTER + void *iLTS; +#endif +}; + +class Scheduler { + friend class Task; + public: + Scheduler(); + inline void init() { iFirst = NULL; iLast = NULL; iCurrent = NULL; } + void addTask(Task& aTask); + void deleteTask(Task& aTask); + void disableAll(); + void enableAll(); + void execute(); + inline Task& currentTask() {return *iCurrent; } +#ifdef _TASK_SLEEP_ON_IDLE_RUN + void allowSleep(bool aState = true) { iAllowSleep = aState; } +#endif +#ifdef _TASK_LTS_POINTER + inline void* currentLts() {return iCurrent->iLTS; } +#endif + + private: + Task *iFirst, *iLast, *iCurrent; +#ifdef _TASK_SLEEP_ON_IDLE_RUN + bool iAllowSleep; +#endif }; @@ -214,13 +233,13 @@ Task::Task( unsigned long aInterval, long aIterations, void (*aCallback)(), Sche reset(); set(aInterval, aIterations, aCallback, aOnEnable, aOnDisable); if (aScheduler) aScheduler->addTask(*this); - if (aEnable) enable(); #ifdef _TASK_STATUS_REQUEST iStatusRequest = NULL; #endif #ifdef _TASK_WDT_IDS iTaskID = ++__task_id_counter; #endif + if (aEnable) enable(); } @@ -278,7 +297,7 @@ void Task::waitFor(StatusRequest* aStatusRequest) { * out of the execution chain as a result */ void Task::reset() { - iEnabled = false; + iEnabled = iInOnEnable = false; iPreviousMillis = 0; iPrev = NULL; iNext = NULL; @@ -290,14 +309,17 @@ void Task::reset() { #ifdef _TASK_WDT_IDS iControlPoint = 0; #endif +#ifdef _TASK_LTS_POINTER + iLTS = NULL; +#endif } /** Explicitly set Task execution parameters * @param aInterval - execution interval in ms * @param aIterations - number of iterations, use -1 for no limit - * @param aCallback - pointer to the callback function which executes the task actions - * @param aOnEnable - pointer to the callback function which is called on enable() - * @param aOnDisable - pointer to the callback function which is called on disable() + * @param aCallback - pointer to the callback method which executes the task actions + * @param aOnEnable - pointer to the callback method which is called on enable() + * @param aOnDisable - pointer to the callback method which is called on disable() */ void Task::set(unsigned long aInterval, long aIterations, void (*aCallback)(),bool (*aOnEnable)(), void (*aOnDisable)()) { iInterval = aInterval; @@ -320,9 +342,21 @@ void Task::setIterations(long aIterations) { * and resets the RunCounter back to zero */ void Task::enable() { - iRunCounter = 0; - iPreviousMillis = millis() - iInterval; - iEnabled = iOnEnable ? (*iOnEnable)() : true; + if (iScheduler) { // activation without active scheduler does not make sense + iRunCounter = 0; + iPreviousMillis = millis() - iInterval; + if (iOnEnable && !iInOnEnable) { + Task *current = iScheduler->iCurrent; + iScheduler->iCurrent = this; + iInOnEnable = true; // Protection against potential infinite loop + iEnabled = (*iOnEnable)(); + iInOnEnable = false; // Protection against potential infinite loop + iScheduler->iCurrent = current; + } + else { + iEnabled = true; + } + } } /** Enables the task only if it was not enabled already @@ -375,8 +409,13 @@ void Task::setInterval (unsigned long aInterval) { */ bool Task::disable() { bool previousEnabled = iEnabled; - iEnabled = false; - if (previousEnabled && iOnDisable) (*iOnDisable)(); + iEnabled = iInOnEnable = false; + if (previousEnabled && iOnDisable) { + Task *current = iScheduler->iCurrent; + iScheduler->iCurrent = this; + (*iOnDisable)(); + iScheduler->iCurrent = current; + } return (previousEnabled); } |