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/**
* TaskScheduler Test sketch - use of task's Local Task Storage pointer
* Test case:
* Overall test runs for 5 seconds
* A number of calculator tasks run every one second, and update their respective variables using Local Task Storage pointer
* All calculator tasks use the same callback code, which obtains reference to appropriate variables via LTS pointer
* Calculaotr tasks perform simple calculation (as an example):
* adding task id number to itself
* multiplying task id number by 10
*
* Upon completion of the overall test, all results are printed out.
* Test could be repeated with various number of calculator tasks.
* All that needs to change is data definitions - code is completely agnostic of number of tasks
*/
#define _TASK_SLEEP_ON_IDLE_RUN // Compile with support for entering IDLE SLEEP state for 1 ms if not tasks are scheduled to run
#define _TASK_WDT_IDS // Compile with support for Task IDs and Watchdog timer
#define _TASK_LTS_POINTER // Compile with support for Local Task Storage pointer
#include <TaskScheduler.h>
// Overall number of calculator tasks:
#define NO_TASKS 3
Scheduler ts;
// Callback methods prototypes
void Calculate(); bool CalcOn();
bool WrapperOn(); void WrapperOff();
// Tasks
// Calculator tasks.
// Note that all three tasks use the same callback methods
// They will be updating specific variables based on the
// Locat Task Storage pointers
Task t1(TASK_SECOND, TASK_FOREVER, &Calculate, &ts, false, &CalcOn);
Task t2(TASK_SECOND, TASK_FOREVER, &Calculate, &ts, false, &CalcOn);
Task t3(TASK_SECOND, TASK_FOREVER, &Calculate, &ts, false, &CalcOn);
// add more calc tasks here if necessary
Task tWrapper(5*TASK_SECOND, TASK_ONCE, NULL, &ts, false, &WrapperOn, &WrapperOff);
// The below structure is an object referenced by LTS pointer
typedef struct {
unsigned int id;
long sum;
long product;
} task_var;
// These are actual structures which hold tasks specific values
task_var v1;
task_var v2;
task_var v3;
// Arrays below allow indexed access to specific tasks and tasks variables
Task *tasks[] = { &t1, &t2, &t3 };
task_var *vars[] = { &v1, &v2, &v3 };
/**
* This method is called when a wrapper task is enabled
* The purpose is to supply LTS pointers to all the tasks
*/
bool WrapperOn() {
for (int i=0; i < NO_TASKS; i++) {
Task& T = *tasks[i];
T.setLtsPointer( vars[i] );
T.enableDelayed();
}
return true; // Signal that Task could be enabled
}
/**
* This method is called when Wrapper task is disabled (after first and only iteration is executed)
* For each of the calculor tasks the results are printed out.
*/
void WrapperOff() {
Serial.println("Finished processing");
ts.disableAll();
for (int i=0; i < NO_TASKS; i++) {
Serial.print("ID: "); Serial.println(vars[i]->id);
Serial.print("Sum: "); Serial.println(vars[i]->sum);
Serial.print("Product: "); Serial.println(vars[i]->product);
Serial.println();
}
}
/**
* This method is executed when each calculator task is enabled
* The purpose is to initiate all local variables
*/
bool CalcOn() {
Task& T = ts.currentTask();
task_var& var = *((task_var*) T.getLtsPointer());
// Initialize local variables
var.id = T.getId();
var.sum = 0;
var.product = var.id;
return true;
}
/**
* This method performs simple calculations on task's local variables
*/
void Calculate() {
Task& T = ts.currentTask();
// Another way to get to LTS pointer:
task_var& var = *((task_var*) ts.currentLts());
Serial.print("Calculating for task: ");
Serial.print(T.getId());
Serial.print("; Task id per LTS is: ");
Serial.println( var.id );
var.sum += T.getId();
var.product = var.product * 10;
}
/**
* Standard Arduino setup and loo methods
*/
void setup() {
Serial.begin(115200);
randomSeed(analogRead(0)+analogRead(5));
pinMode(13, OUTPUT);
digitalWrite(13, LOW);
Serial.println("Local Task Storage pointer test");
tWrapper.enableDelayed();
}
void loop() {
ts.execute();
}
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