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/**
* This is a test of TaskScheduler layered priority funtionality
*
* Current test employs three priority layers:
* Base scheduler runs tasks t1, t2 and t3
* High priority scheduler runs tasks t4 and t5
* Highest priority scheduler runs tasks t6 and t7
*
* Sequence of task scheduling (not execution!) is:
* 6, 7, 4, 6, 7, 5, 1, 6, 7, 4, 6, 7, 5, 2, 6, 7, 4, 6, 7, 5, 3 = one base scheduler pass
*
* Scheduling overhead (at 20 micros per one pass) is: (B + B * H + B * H * C) * T = (3 + 3 * 2 + 3 * 2 * 2) * 18 = 378 micros
* where
* B - number of tasks in the base scheduler's chain
* H - number of tasks in the high priority scheduler's chain
* C - number of tasks in the critical priority scheduler's chain
* T - scheduling overhead for 1 pass (~15-18 microseconds)
*
* Actual task execution order:
Scheduler Priority Test
Task: 600: 0 Start delay = 0
Task: 700: 10 Start delay = 10
Task: 40: 21 Start delay = 21
Task: 50: 31 Start delay = 31
Task: 1: 43 Start delay = 41
Task: 2: 53 Start delay = 53
Task: 3: 63 Start delay = 63
Task: 600: 500 Start delay = 0
Task: 40: 510 Start delay = 10
Task: 600: 1000 Start delay = 0
Task: 700: 1010 Start delay = 10
Task: 40: 1021 Start delay = 21
Task: 50: 1032 Start delay = 32
Task: 1: 1043 Start delay = 43
Task: 600: 1500 Start delay = 0
Task: 40: 1510 Start delay = 10
Task: 600: 2000 Start delay = 0
Task: 700: 2011 Start delay = 11
Task: 40: 2022 Start delay = 22
Task: 50: 2032 Start delay = 32
Task: 1: 2043 Start delay = 43
Task: 2: 2054 Start delay = 54
Task: 600: 2500 Start delay = 0
Task: 40: 2510 Start delay = 10
Task: 600: 3000 Start delay = 0
Task: 700: 3010 Start delay = 10
Task: 40: 3021 Start delay = 21
Task: 50: 3032 Start delay = 32
Task: 1: 3043 Start delay = 43
Task: 3: 3053 Start delay = 53
Task: 600: 3500 Start delay = 0
Task: 40: 3510 Start delay = 10
Task: 600: 4000 Start delay = 0
Task: 700: 4011 Start delay = 11
Task: 40: 4022 Start delay = 22
Task: 50: 4032 Start delay = 32
Task: 1: 4043 Start delay = 43
Task: 2: 4054 Start delay = 54
Task: 600: 4500 Start delay = 0
Task: 40: 4510 Start delay = 10
Task: 600: 5000 Start delay = 0
Task: 700: 5010 Start delay = 10
Task: 40: 5021 Start delay = 21
Task: 50: 5031 Start delay = 31
Task: 1: 5043 Start delay = 43
Task: 600: 5500 Start delay = 0
Task: 40: 5511 Start delay = 11
Task: 600: 6000 Start delay = 0
Task: 700: 6010 Start delay = 10
Task: 40: 6022 Start delay = 22
Task: 50: 6032 Start delay = 32
Task: 1: 6043 Start delay = 43
Task: 2: 6053 Start delay = 53
Task: 3: 6065 Start delay = 65
*/
#define _TASK_SLEEP_ON_IDLE_RUN
#define _TASK_PRIORITY
#define _TASK_WDT_IDS
#define _TASK_TIMECRITICAL
#include <TaskScheduler.h>
Scheduler r;
Scheduler hpr;
Scheduler cpr;
// Callback methods prototypes
void tCallback();
// Tasks
Task t1(1000, TASK_FOREVER, &tCallback, &r); //adding task to the chain on creation
Task t2(2000, TASK_FOREVER, &tCallback, &r);
Task t3(3000, TASK_FOREVER, &tCallback, &r);
Task t4(500, TASK_FOREVER, &tCallback, &hpr); //adding task to the chain on creation
Task t5(1000, TASK_FOREVER, &tCallback, &hpr); //adding task to the chain on creation
Task t6(500, TASK_FOREVER, &tCallback, &cpr); //adding task to the chain on creation
Task t7(1000, TASK_FOREVER, &tCallback, &cpr); //adding task to the chain on creation
void tCallback() {
Scheduler &s = Scheduler::currentScheduler();
Task &t = s.currentTask();
Serial.print("Task: "); Serial.print(t.getId());Serial.print(":\t");
Serial.print(millis()); Serial.print("\tStart delay = "); Serial.println(t.getStartDelay());
delay(10);
if (t.getId() == 3) Serial.println();
}
void setup () {
Serial.begin(115200);
Serial.println("Scheduler Priority Test");
t4.setId(40);
t5.setId(50);
t6.setId(600);
t7.setId(700);
r.setHighPriorityScheduler(&hpr);
hpr.setHighPriorityScheduler(&cpr);
r.enableAll(true); // this will recursively enable the higher priority tasks as well
}
void loop () {
r.execute();
}
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