504 lines
16 KiB
Rust
504 lines
16 KiB
Rust
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//! Task scheduling module
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use bus::BusReader;
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use std::boxed::Box;
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use std::error::Error;
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use std::sync::mpsc::TryRecvError;
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use std::thread;
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use std::thread::JoinHandle;
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use std::time::Duration;
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use std::vec;
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use std::vec::Vec;
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#[derive(Debug, PartialEq, Eq)]
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pub enum OpResult {
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Ok,
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TerminationRequested,
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}
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pub enum ExecutionType {
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Infinite,
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Cycles(u32),
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OneShot,
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}
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pub trait Executable: Send {
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type Error;
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fn exec_type(&self) -> ExecutionType;
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fn task_name(&self) -> &'static str;
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fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error>;
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}
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/// This function allows executing one task which implements the [Executable][Executable] trait
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///
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/// # Arguments
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///
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/// * `executable`: Executable task
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/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
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/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
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/// * `termination`: Optional termination handler which can cancel threads with a broadcast
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pub fn exec_sched_single<
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T: Executable<Error = E> + Send + 'static + ?Sized,
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E: Error + Send + 'static,
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>(
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mut executable: Box<T>,
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task_freq: Option<Duration>,
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op_code: i32,
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mut termination: Option<BusReader<()>>,
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) -> JoinHandle<Result<OpResult, E>> {
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let mut cycle_count = 0;
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thread::spawn(move || loop {
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if let Some(ref mut terminator) = termination {
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match terminator.try_recv() {
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Ok(_) | Err(TryRecvError::Disconnected) => {
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return Ok(OpResult::Ok);
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}
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Err(TryRecvError::Empty) => (),
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}
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}
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match executable.exec_type() {
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ExecutionType::OneShot => {
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executable.periodic_op(op_code)?;
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return Ok(OpResult::Ok);
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}
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ExecutionType::Infinite => {
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executable.periodic_op(op_code)?;
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}
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ExecutionType::Cycles(cycles) => {
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executable.periodic_op(op_code)?;
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cycle_count += 1;
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if cycle_count == cycles {
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return Ok(OpResult::Ok);
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}
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}
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}
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let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
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thread::sleep(freq);
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})
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}
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/// This function allows executing multiple tasks as long as the tasks implement the
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/// [Executable][Executable] trait
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///
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/// # Arguments
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///
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/// * `executable_vec`: Vector of executable objects
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/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
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/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
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/// * `termination`: Optional termination handler which can cancel threads with a broadcast
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pub fn exec_sched_multi<
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T: Executable<Error = E> + Send + 'static + ?Sized,
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E: Error + Send + 'static,
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>(
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mut executable_vec: Vec<Box<T>>,
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task_freq: Option<Duration>,
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op_code: i32,
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mut termination: Option<BusReader<()>>,
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) -> JoinHandle<Result<OpResult, E>> {
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let mut cycle_counts = vec![0; executable_vec.len()];
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let mut removal_flags = vec![false; executable_vec.len()];
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thread::spawn(move || loop {
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if let Some(ref mut terminator) = termination {
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match terminator.try_recv() {
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Ok(_) | Err(TryRecvError::Disconnected) => {
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removal_flags.iter_mut().for_each(|x| *x = true);
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}
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Err(TryRecvError::Empty) => (),
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}
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}
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for (idx, executable) in executable_vec.iter_mut().enumerate() {
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match executable.exec_type() {
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ExecutionType::OneShot => {
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executable.periodic_op(op_code)?;
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removal_flags[idx] = true;
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}
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ExecutionType::Infinite => {
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executable.periodic_op(op_code)?;
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}
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ExecutionType::Cycles(cycles) => {
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executable.periodic_op(op_code)?;
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cycle_counts[idx] += 1;
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if cycle_counts[idx] == cycles {
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removal_flags[idx] = true;
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}
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}
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}
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}
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let mut removal_iter = removal_flags.iter();
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executable_vec.retain(|_| !*removal_iter.next().unwrap());
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removal_iter = removal_flags.iter();
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cycle_counts.retain(|_| !*removal_iter.next().unwrap());
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removal_flags.retain(|&i| !i);
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if executable_vec.is_empty() {
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return Ok(OpResult::Ok);
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}
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let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
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thread::sleep(freq);
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})
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}
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#[cfg(test)]
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mod tests {
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use super::{exec_sched_multi, exec_sched_single, Executable, ExecutionType, OpResult};
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use bus::Bus;
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use std::boxed::Box;
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use std::error::Error;
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use std::string::{String, ToString};
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use std::sync::{Arc, Mutex};
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use std::time::Duration;
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use std::vec::Vec;
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use std::{fmt, thread, vec};
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struct TestInfo {
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exec_num: u32,
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op_code: i32,
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}
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struct OneShotTask {
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exec_num: Arc<Mutex<TestInfo>>,
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}
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struct FixedCyclesTask {
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cycles: u32,
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exec_num: Arc<Mutex<TestInfo>>,
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}
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struct PeriodicTask {
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exec_num: Arc<Mutex<TestInfo>>,
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}
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#[derive(Clone, Debug)]
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struct ExampleError {
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kind: ErrorKind,
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}
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/// The kind of an error that can occur.
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#[derive(Clone, Debug)]
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pub enum ErrorKind {
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Generic(String, i32),
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}
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impl ExampleError {
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fn new(msg: &str, code: i32) -> ExampleError {
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ExampleError {
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kind: ErrorKind::Generic(msg.to_string(), code),
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}
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}
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/// Return the kind of this error.
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pub fn kind(&self) -> &ErrorKind {
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&self.kind
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}
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}
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impl fmt::Display for ExampleError {
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fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
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match self.kind() {
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ErrorKind::Generic(str, code) => {
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write!(f, "{str} with code {code}")
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}
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}
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}
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}
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impl Error for ExampleError {}
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const ONE_SHOT_TASK_NAME: &str = "One Shot Task";
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impl Executable for OneShotTask {
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type Error = ExampleError;
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fn exec_type(&self) -> ExecutionType {
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ExecutionType::OneShot
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}
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fn task_name(&self) -> &'static str {
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ONE_SHOT_TASK_NAME
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}
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fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
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let mut data = self.exec_num.lock().expect("Locking Mutex failed");
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data.exec_num += 1;
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data.op_code = op_code;
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std::mem::drop(data);
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if op_code >= 0 {
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Ok(OpResult::Ok)
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} else {
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Err(ExampleError::new("One Shot Task Failure", op_code))
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}
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}
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}
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const CYCLE_TASK_NAME: &str = "Fixed Cycles Task";
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impl Executable for FixedCyclesTask {
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type Error = ExampleError;
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fn exec_type(&self) -> ExecutionType {
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ExecutionType::Cycles(self.cycles)
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}
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fn task_name(&self) -> &'static str {
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CYCLE_TASK_NAME
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}
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fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
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let mut data = self.exec_num.lock().expect("Locking Mutex failed");
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data.exec_num += 1;
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data.op_code = op_code;
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std::mem::drop(data);
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if op_code >= 0 {
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Ok(OpResult::Ok)
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} else {
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Err(ExampleError::new("Fixed Cycle Task Failure", op_code))
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}
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}
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}
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const PERIODIC_TASK_NAME: &str = "Periodic Task";
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impl Executable for PeriodicTask {
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type Error = ExampleError;
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fn exec_type(&self) -> ExecutionType {
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ExecutionType::Infinite
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}
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fn task_name(&self) -> &'static str {
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PERIODIC_TASK_NAME
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}
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fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
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let mut data = self.exec_num.lock().expect("Locking Mutex failed");
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data.exec_num += 1;
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data.op_code = op_code;
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std::mem::drop(data);
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if op_code >= 0 {
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Ok(OpResult::Ok)
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} else {
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Err(ExampleError::new("Example Task Failure", op_code))
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}
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}
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}
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#[test]
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fn test_simple_one_shot() {
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let expected_op_code = 42;
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let shared = Arc::new(Mutex::new(TestInfo {
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exec_num: 0,
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op_code: 0,
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}));
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let exec_task = OneShotTask {
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exec_num: shared.clone(),
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};
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let task = Box::new(exec_task);
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let jhandle = exec_sched_single(
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task,
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Some(Duration::from_millis(100)),
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expected_op_code,
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None,
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);
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let thread_res = jhandle.join().expect("One Shot Task failed");
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assert!(thread_res.is_ok());
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assert_eq!(thread_res.unwrap(), OpResult::Ok);
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let data = shared.lock().expect("Locking Mutex failed");
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assert_eq!(data.exec_num, 1);
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assert_eq!(data.op_code, expected_op_code);
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}
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#[test]
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fn test_failed_one_shot() {
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let op_code_inducing_failure = -1;
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let shared = Arc::new(Mutex::new(TestInfo {
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exec_num: 0,
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op_code: 0,
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}));
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let exec_task = OneShotTask {
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exec_num: shared.clone(),
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};
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let task = Box::new(exec_task);
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let jhandle = exec_sched_single(
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task,
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Some(Duration::from_millis(100)),
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op_code_inducing_failure,
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None,
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);
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let thread_res = jhandle.join().expect("One Shot Task failed");
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assert!(thread_res.is_err());
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let error = thread_res.unwrap_err();
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let err = error.kind();
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assert!(matches!(err, &ErrorKind::Generic { .. }));
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match err {
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ErrorKind::Generic(str, op_code) => {
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assert_eq!(str, &String::from("One Shot Task Failure"));
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assert_eq!(op_code, &op_code_inducing_failure);
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}
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}
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let error_display = error.to_string();
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assert_eq!(error_display, "One Shot Task Failure with code -1");
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let data = shared.lock().expect("Locking Mutex failed");
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assert_eq!(data.exec_num, 1);
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assert_eq!(data.op_code, op_code_inducing_failure);
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}
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#[test]
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fn test_simple_multi_one_shot() {
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let expected_op_code = 43;
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let shared = Arc::new(Mutex::new(TestInfo {
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exec_num: 0,
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op_code: 0,
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}));
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let exec_task_0 = OneShotTask {
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exec_num: shared.clone(),
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};
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let exec_task_1 = OneShotTask {
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exec_num: shared.clone(),
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};
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let task_vec = vec![Box::new(exec_task_0), Box::new(exec_task_1)];
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for task in task_vec.iter() {
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assert_eq!(task.task_name(), ONE_SHOT_TASK_NAME);
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}
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let jhandle = exec_sched_multi(
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task_vec,
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Some(Duration::from_millis(100)),
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expected_op_code,
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None,
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);
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let thread_res = jhandle.join().expect("One Shot Task failed");
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assert!(thread_res.is_ok());
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assert_eq!(thread_res.unwrap(), OpResult::Ok);
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let data = shared.lock().expect("Locking Mutex failed");
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assert_eq!(data.exec_num, 2);
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assert_eq!(data.op_code, expected_op_code);
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}
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#[test]
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fn test_cycles_single() {
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let expected_op_code = 44;
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let shared = Arc::new(Mutex::new(TestInfo {
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exec_num: 0,
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op_code: 0,
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}));
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let cycled_task = Box::new(FixedCyclesTask {
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exec_num: shared.clone(),
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|
|
cycles: 1,
|
||
|
|
});
|
||
|
|
assert_eq!(cycled_task.task_name(), CYCLE_TASK_NAME);
|
||
|
|
let jh = exec_sched_single(
|
||
|
|
cycled_task,
|
||
|
|
Some(Duration::from_millis(100)),
|
||
|
|
expected_op_code,
|
||
|
|
None,
|
||
|
|
);
|
||
|
|
let thread_res = jh.join().expect("Cycles Task failed");
|
||
|
|
assert!(thread_res.is_ok());
|
||
|
|
let data = shared.lock().expect("Locking Mutex failed");
|
||
|
|
assert_eq!(thread_res.unwrap(), OpResult::Ok);
|
||
|
|
assert_eq!(data.exec_num, 1);
|
||
|
|
assert_eq!(data.op_code, expected_op_code);
|
||
|
|
}
|
||
|
|
|
||
|
|
#[test]
|
||
|
|
fn test_single_and_cycles() {
|
||
|
|
let expected_op_code = 50;
|
||
|
|
let shared = Arc::new(Mutex::new(TestInfo {
|
||
|
|
exec_num: 0,
|
||
|
|
op_code: 0,
|
||
|
|
}));
|
||
|
|
let one_shot_task = Box::new(OneShotTask {
|
||
|
|
exec_num: shared.clone(),
|
||
|
|
});
|
||
|
|
let cycled_task_0 = Box::new(FixedCyclesTask {
|
||
|
|
exec_num: shared.clone(),
|
||
|
|
cycles: 1,
|
||
|
|
});
|
||
|
|
let cycled_task_1 = Box::new(FixedCyclesTask {
|
||
|
|
exec_num: shared.clone(),
|
||
|
|
cycles: 1,
|
||
|
|
});
|
||
|
|
assert_eq!(cycled_task_0.task_name(), CYCLE_TASK_NAME);
|
||
|
|
assert_eq!(one_shot_task.task_name(), ONE_SHOT_TASK_NAME);
|
||
|
|
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
|
||
|
|
vec![one_shot_task, cycled_task_0, cycled_task_1];
|
||
|
|
let jh = exec_sched_multi(
|
||
|
|
task_vec,
|
||
|
|
Some(Duration::from_millis(100)),
|
||
|
|
expected_op_code,
|
||
|
|
None,
|
||
|
|
);
|
||
|
|
let thread_res = jh.join().expect("Cycles Task failed");
|
||
|
|
assert!(thread_res.is_ok());
|
||
|
|
let data = shared.lock().expect("Locking Mutex failed");
|
||
|
|
assert_eq!(thread_res.unwrap(), OpResult::Ok);
|
||
|
|
assert_eq!(data.exec_num, 3);
|
||
|
|
assert_eq!(data.op_code, expected_op_code);
|
||
|
|
}
|
||
|
|
|
||
|
|
#[test]
|
||
|
|
#[ignore]
|
||
|
|
fn test_periodic_single() {
|
||
|
|
let mut terminator = Bus::new(5);
|
||
|
|
let expected_op_code = 45;
|
||
|
|
let shared = Arc::new(Mutex::new(TestInfo {
|
||
|
|
exec_num: 0,
|
||
|
|
op_code: 0,
|
||
|
|
}));
|
||
|
|
let periodic_task = Box::new(PeriodicTask {
|
||
|
|
exec_num: shared.clone(),
|
||
|
|
});
|
||
|
|
assert_eq!(periodic_task.task_name(), PERIODIC_TASK_NAME);
|
||
|
|
let jh = exec_sched_single(
|
||
|
|
periodic_task,
|
||
|
|
Some(Duration::from_millis(20)),
|
||
|
|
expected_op_code,
|
||
|
|
Some(terminator.add_rx()),
|
||
|
|
);
|
||
|
|
thread::sleep(Duration::from_millis(40));
|
||
|
|
terminator.broadcast(());
|
||
|
|
let thread_res = jh.join().expect("Periodic Task failed");
|
||
|
|
assert!(thread_res.is_ok());
|
||
|
|
let data = shared.lock().expect("Locking Mutex failed");
|
||
|
|
assert_eq!(thread_res.unwrap(), OpResult::Ok);
|
||
|
|
let range = 2..4;
|
||
|
|
assert!(range.contains(&data.exec_num));
|
||
|
|
assert_eq!(data.op_code, expected_op_code);
|
||
|
|
}
|
||
|
|
|
||
|
|
#[test]
|
||
|
|
#[ignore]
|
||
|
|
fn test_periodic_multi() {
|
||
|
|
let mut terminator = Bus::new(5);
|
||
|
|
let expected_op_code = 46;
|
||
|
|
let shared = Arc::new(Mutex::new(TestInfo {
|
||
|
|
exec_num: 0,
|
||
|
|
op_code: 0,
|
||
|
|
}));
|
||
|
|
let cycled_task = Box::new(FixedCyclesTask {
|
||
|
|
exec_num: shared.clone(),
|
||
|
|
cycles: 1,
|
||
|
|
});
|
||
|
|
let periodic_task_0 = Box::new(PeriodicTask {
|
||
|
|
exec_num: shared.clone(),
|
||
|
|
});
|
||
|
|
let periodic_task_1 = Box::new(PeriodicTask {
|
||
|
|
exec_num: shared.clone(),
|
||
|
|
});
|
||
|
|
assert_eq!(periodic_task_0.task_name(), PERIODIC_TASK_NAME);
|
||
|
|
assert_eq!(periodic_task_1.task_name(), PERIODIC_TASK_NAME);
|
||
|
|
let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
|
||
|
|
vec![cycled_task, periodic_task_0, periodic_task_1];
|
||
|
|
let jh = exec_sched_multi(
|
||
|
|
task_vec,
|
||
|
|
Some(Duration::from_millis(20)),
|
||
|
|
expected_op_code,
|
||
|
|
Some(terminator.add_rx()),
|
||
|
|
);
|
||
|
|
thread::sleep(Duration::from_millis(60));
|
||
|
|
terminator.broadcast(());
|
||
|
|
let thread_res = jh.join().expect("Periodic Task failed");
|
||
|
|
assert!(thread_res.is_ok());
|
||
|
|
let data = shared.lock().expect("Locking Mutex failed");
|
||
|
|
assert_eq!(thread_res.unwrap(), OpResult::Ok);
|
||
|
|
let range = 7..11;
|
||
|
|
assert!(range.contains(&data.exec_num));
|
||
|
|
assert_eq!(data.op_code, expected_op_code);
|
||
|
|
}
|
||
|
|
}
|