multi object periodic task

mission_rust/src/lib.rs

@@ -76,20 +76,16 @@ extern "C" {
 extern "C" fn rust_main() {
     sifln!("Rust startup 🚀");
     mission();
-
     sifln!("Mission done");
 }
 
 #[no_mangle]
 extern "C" fn task_entry(task_object: *mut cty::c_void) {
-    sifln!("Task Entry");
-    sifln!("running pointer {:p}", task_object);
     let task: &mut dyn TaskIF;
     unsafe {
         let pointer = task_object as *mut PeriodicTask;
         task = &mut *pointer;
     }
-    sifln!("running cast {:p}", task);
     task.run();
 }
 
@@ -108,26 +104,33 @@ struct PeriodicTask<'a> {
     stack_size: cty::size_t, //TODO generic type and safety
     task_handle: *const cty::c_void,
     period: usize,
-    task_object: &'a mut dyn ExecutableObjectIF,
+    task_objects: &'a mut [&'a mut dyn ExecutableObjectIF],
 }
 
-impl<'a> PeriodicTask<'a> {
-    fn new(object: &'a mut dyn ExecutableObjectIF, stack_size: usize, period: usize) -> Self {
-        let instance = Self {
-            stack_size: stack_size,
-            task_handle: 0 as *const cty::c_void,
-            period: period,
-            task_object: object,
-        };
-        instance
-    }
-}
+// TODO Passing the slice does not work, find out why...
+// impl<'a> PeriodicTask<'a> {
+//     fn new(
+//         objects: &'a mut [&'a mut dyn ExecutableObjectIF],
+//         stack_size: usize,
+//         period: usize,
+//     ) -> Self {
+//         let instance = Self {
+//             stack_size: stack_size,
+//             task_handle: 0 as *const cty::c_void,
+//             period: period,
+//             task_objects: objects,
+//         };
+//         instance
+//     }
+// }
 
 impl<'a> TaskIF for PeriodicTask<'a> {
     fn run(&mut self) {
-        sifln!("Task running {}", self.period);
         loop {
-            self.task_object.perform();
+            for object in self.task_objects.iter_mut() {
+                object.perform();
+            }
+            //TODO make this exact
             unsafe {
                 task_delay(self.period as cty::uint32_t); //TODO type of delay should be generic but safe (cap to max in C)
             }
@@ -157,10 +160,9 @@ impl<'a> TaskExecutor<'a> {
             // this way, the reference is guaranteed to be valid over our
             // lifetime while the task is deleted at the end of our lifetime
             let task_pointer: *const cty::c_void = *task as *mut _ as *const cty::c_void; //TODO this does work without the "*" in front of the task -> Why??
-                sifln!("create task {:p}", task_pointer);
             let handle;
             unsafe {
-                 handle = create_task(task_entry, task_pointer, task.get_stack_size());
+                handle = create_task(task_entry, task_pointer, task.get_stack_size());
             }
             if handle == 0 as *mut cty::c_void {
                 panic!("could not create Task");
@@ -347,15 +349,19 @@ fn mission() {
 
     // h2.other_handler = h1.command_queue.get_sender();
 
-    let mut t1: PeriodicTask = PeriodicTask::new(&mut h1, 512, 200);
+    let mut t1: PeriodicTask = PeriodicTask {
+        task_objects: &mut [&mut h1],
+        stack_size: 512,
+        period: 200,
+        task_handle: 0 as *const cty::c_void,
+    };
 
-    let mut t2: PeriodicTask = PeriodicTask::new(&mut h2, 512, 300);
-
-    sifln!("t1 {:p}", &t1);
-
-    let r1: &mut dyn TaskIF = &mut t1;
-
-    sifln!("as dyn {:p}", r1);
+    let mut t2: PeriodicTask = PeriodicTask {
+        task_objects: &mut [&mut h2],
+        stack_size: 512,
+        period: 400,
+        task_handle: 0 as *const cty::c_void,
+    };
 
     let mut task_executor = TaskExecutor {
         tasks: &mut [&mut t1, &mut t2],
@@ -371,8 +377,6 @@ fn mission() {
     }
     sifln!("executor dropped");
     drop(task_executor);
-    //t2.period = 100; //Invalid
-    h1.id = 2;
     unsafe {
         task_delay(2000);
     }