407 lines
12 KiB
C
407 lines
12 KiB
C
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/******************************************************************************
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The MIT License(MIT)
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Embedded Template Library.
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https://github.com/ETLCPP/etl
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https://www.etlcpp.com
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Copyright(c) 2017 John Wellbelove
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files(the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions :
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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******************************************************************************/
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#ifndef ETL_SCHEDULER_INCLUDED
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#define ETL_SCHEDULER_INCLUDED
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#include "platform.h"
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#include "vector.h"
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#include "nullptr.h"
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#include "error_handler.h"
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#include "exception.h"
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#include "task.h"
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#include "type_traits.h"
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#include "function.h"
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#include <stdint.h>
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namespace etl
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{
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//***************************************************************************
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/// Base exception class for scheduler.
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//***************************************************************************
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class scheduler_exception : public etl::exception
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{
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public:
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scheduler_exception(string_type reason_, string_type file_name_, numeric_type line_number_)
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: etl::exception(reason_, file_name_, line_number_)
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{
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}
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};
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//***************************************************************************
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/// 'No tasks' exception.
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//***************************************************************************
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class scheduler_no_tasks_exception : public etl::scheduler_exception
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{
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public:
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scheduler_no_tasks_exception(string_type file_name_, numeric_type line_number_)
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: etl::scheduler_exception(ETL_ERROR_TEXT("scheduler:no tasks", ETL_SCHEDULER_FILE_ID"A"), file_name_, line_number_)
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{
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}
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};
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//***************************************************************************
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/// 'Null tasks' exception.
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//***************************************************************************
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class scheduler_null_task_exception : public etl::scheduler_exception
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{
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public:
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scheduler_null_task_exception(string_type file_name_, numeric_type line_number_)
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: etl::scheduler_exception(ETL_ERROR_TEXT("scheduler:null task", ETL_SCHEDULER_FILE_ID"B"), file_name_, line_number_)
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{
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}
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};
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//***************************************************************************
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/// 'Too many tasks' exception.
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//***************************************************************************
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class scheduler_too_many_tasks_exception : public etl::scheduler_exception
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{
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public:
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scheduler_too_many_tasks_exception(string_type file_name_, numeric_type line_number_)
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: etl::scheduler_exception(ETL_ERROR_TEXT("scheduler:too many tasks", ETL_SCHEDULER_FILE_ID"C"), file_name_, line_number_)
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{
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}
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};
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//***************************************************************************
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/// Sequential Single.
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/// A policy the scheduler can use to decide what to do next.
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/// Only calls the task to process work once, if it has work to do.
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//***************************************************************************
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struct scheduler_policy_sequential_single
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{
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bool schedule_tasks(etl::ivector<etl::task*>& task_list)
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{
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bool idle = true;
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for (size_t index = 0UL; index < task_list.size(); ++index)
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{
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etl::task& task = *(task_list[index]);
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if (task.task_request_work() > 0)
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{
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task.task_process_work();
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idle = false;
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}
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}
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return idle;
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}
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};
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/// Typedef for backwards compatibility with miss-spelt struct name.
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ETL_DEPRECATED_REASON("Misspelt class name") typedef scheduler_policy_sequential_single scheduler_policy_sequencial_single;
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//***************************************************************************
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/// Sequential Multiple.
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/// A policy the scheduler can use to decide what to do next.
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/// Calls the task to process work until it reports that it has no more.
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//***************************************************************************
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struct scheduler_policy_sequential_multiple
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{
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bool schedule_tasks(etl::ivector<etl::task*>& task_list)
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{
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bool idle = true;
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for (size_t index = 0UL; index < task_list.size(); ++index)
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{
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etl::task& task = *(task_list[index]);
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while (task.task_request_work() > 0)
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{
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task.task_process_work();
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idle = false;
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}
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}
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return idle;
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}
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};
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/// Typedef for backwards compatibility with miss-spelt struct name.
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ETL_DEPRECATED typedef scheduler_policy_sequential_multiple scheduler_policy_sequencial_multiple;
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//***************************************************************************
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/// Highest Priority.
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/// A policy the scheduler can use to decide what to do next.
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/// Calls the highest priority task that has work.
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//***************************************************************************
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struct scheduler_policy_highest_priority
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{
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bool schedule_tasks(etl::ivector<etl::task*>& task_list)
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{
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bool idle = true;
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size_t index = 0UL;
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while (index < task_list.size())
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{
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etl::task& task = *(task_list[index]);
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if (task.task_request_work() > 0)
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{
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task.task_process_work();
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idle = false;
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break;
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}
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else
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{
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++index;
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}
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}
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return idle;
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}
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};
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//***************************************************************************
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/// Most Work.
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/// A policy the scheduler can use to decide what to do next.
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/// Calls the task that has the most work.
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/// Starts looking from the task with the highest priority.
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//***************************************************************************
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struct scheduler_policy_most_work
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{
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bool schedule_tasks(etl::ivector<etl::task*>& task_list)
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{
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bool idle = true;
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size_t most_index = 0UL;
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uint32_t most_work = 0UL;
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for (size_t index = 0UL; index < task_list.size(); ++index)
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{
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etl::task& task = *(task_list[index]);
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uint32_t n_work = task.task_request_work();
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if (n_work > most_work)
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{
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most_index = index;
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most_work = n_work;
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idle = false;
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}
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}
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if (!idle)
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{
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task_list[most_index]->task_process_work();
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}
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return idle;
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}
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};
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//***************************************************************************
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/// Scheduler base.
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//***************************************************************************
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class ischeduler
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{
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public:
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//*******************************************
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// Virtuals.
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//*******************************************
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virtual void start() = 0;
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virtual ~ischeduler()
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{
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}
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//*******************************************
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/// Set the idle callback.
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//*******************************************
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void set_idle_callback(etl::ifunction<void>& callback)
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{
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p_idle_callback = &callback;
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}
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//*******************************************
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/// Set the watchdog callback.
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//*******************************************
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void set_watchdog_callback(etl::ifunction<void>& callback)
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{
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p_watchdog_callback = &callback;
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}
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//*******************************************
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/// Set the running state for the scheduler.
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//*******************************************
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void set_scheduler_running(bool scheduler_running_)
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{
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scheduler_running = scheduler_running_;
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}
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//*******************************************
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/// Get the running state for the scheduler.
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//*******************************************
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bool scheduler_is_running() const
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{
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return scheduler_running;
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}
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//*******************************************
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/// Force the scheduler to exit.
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//*******************************************
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void exit_scheduler()
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{
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scheduler_exit = true;
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}
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//*******************************************
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/// Add a task.
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/// Add to the task list in priority order.
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//*******************************************
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void add_task(etl::task& task)
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{
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ETL_ASSERT(!task_list.full(), ETL_ERROR(etl::scheduler_too_many_tasks_exception));
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if (!task_list.full())
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{
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typename task_list_t::iterator itask = etl::upper_bound(task_list.begin(),
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task_list.end(),
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task.get_task_priority(),
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compare_priority());
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task_list.insert(itask, &task);
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task.on_task_added();
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}
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}
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//*******************************************
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/// Add a task list.
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/// Adds to the tasks to the internal task list in priority order.
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/// Input order is ignored.
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//*******************************************
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template <typename TSize>
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void add_task_list(etl::task** p_tasks, TSize size)
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{
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for (TSize i = 0; i < size; ++i)
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{
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ETL_ASSERT((p_tasks[i] != ETL_NULLPTR), ETL_ERROR(etl::scheduler_null_task_exception));
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add_task(*(p_tasks[i]));
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}
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}
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protected:
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//*******************************************
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/// Constructor.
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//*******************************************
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ischeduler(etl::ivector<etl::task*>& task_list_)
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: scheduler_running(false),
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scheduler_exit(false),
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p_idle_callback(ETL_NULLPTR),
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p_watchdog_callback(ETL_NULLPTR),
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task_list(task_list_)
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{
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}
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bool scheduler_running;
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bool scheduler_exit;
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etl::ifunction<void>* p_idle_callback;
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etl::ifunction<void>* p_watchdog_callback;
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private:
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//*******************************************
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// Used to order tasks in descending priority.
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//*******************************************
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struct compare_priority
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{
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bool operator()(etl::task_priority_t priority, etl::task* ptask) const
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{
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return priority > ptask->get_task_priority();
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}
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};
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typedef etl::ivector<etl::task*> task_list_t;
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task_list_t& task_list;
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};
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//***************************************************************************
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/// Scheduler.
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//***************************************************************************
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template <typename TSchedulerPolicy, size_t MAX_TASKS_>
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class scheduler : public etl::ischeduler, protected TSchedulerPolicy
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{
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public:
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enum
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{
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MAX_TASKS = MAX_TASKS_,
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};
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scheduler()
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: ischeduler(task_list)
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{
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}
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//*******************************************
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/// Start the scheduler.
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//*******************************************
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void start()
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{
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ETL_ASSERT(task_list.size() > 0, ETL_ERROR(etl::scheduler_no_tasks_exception));
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scheduler_running = true;
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while (!scheduler_exit)
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{
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if (scheduler_running)
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{
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bool idle = TSchedulerPolicy::schedule_tasks(task_list);
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if (p_watchdog_callback)
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{
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(*p_watchdog_callback)();
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}
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if (idle && p_idle_callback)
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{
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(*p_idle_callback)();
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}
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}
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}
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}
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private:
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typedef etl::vector<etl::task*, MAX_TASKS> task_list_t;
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task_list_t task_list;
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};
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}
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#endif
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