allow passing in task vectors now

src/core/executable.rs

@@ -1,5 +1,3 @@
-use std::time::Duration;
-
 pub enum OpResult {
     Ok,
 }
@@ -13,15 +11,13 @@ pub enum ExecutionType {
 pub trait Executable {
     type Error;
     const EXEC_TYPE: ExecutionType;
-    const TASK_FREQ: Option<Duration>;
     const TASK_NAME: &'static str;
-    fn periodic_op(&mut self, op_code: u32) -> Result<OpResult, Self::Error>;
+    fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error>;
 }
 
 trait ExecutableWithAssociatedFuncs {
     type Error;
     fn exec_type(&self) -> ExecutionType;
-    fn task_freq(&self) -> Option<Duration>;
     fn task_name(&self) -> &'static str;
     fn periodic_op(&mut self) -> Result<OpResult, Self::Error>;
 }

src/main.rs

@@ -5,7 +5,9 @@ use std::thread;
 use std::thread::JoinHandle;
 use std::time::Duration;
 
-struct ExampleTask {}
+struct OneShotTask {}
+struct FixedCyclesTask {}
+struct PeriodicTask {}
 
 #[derive(Debug)]
 struct ExampleError {
@@ -32,28 +34,63 @@ impl Error for ExampleError {
     }
 }
 
-impl Executable for ExampleTask {
+impl Executable for OneShotTask {
     type Error = ExampleError;
     const EXEC_TYPE: ExecutionType = ExecutionType::OneShot;
-    const TASK_FREQ: Option<Duration> = Some(Duration::from_millis(500));
+    const TASK_NAME: &'static str = "One Shot Test Task";
-    const TASK_NAME: &'static str = "Test Task";
 
-    fn periodic_op(&mut self, op_code: u32) -> Result<OpResult, ExampleError> {
+    fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
-        if op_code == 0 {
+        if op_code >= 0 {
-            println!("Periodic Operation OK!");
+            println!("One-shot operation with operation code {op_code} OK!");
             Ok(OpResult::Ok)
         } else {
-            println!("Periodic Operation Fail!");
+            println!("One-shot operation failure by passing op code {op_code}!");
+            Err(ExampleError::new("Example Task Failure"))
+        }
+    }
+}
+
+impl Executable for FixedCyclesTask {
+    type Error = ExampleError;
+    const EXEC_TYPE: ExecutionType = ExecutionType::Cycles(5);
+    const TASK_NAME: &'static str = "Fixed Cycles Task";
+
+    fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
+        if op_code >= 0 {
+            println!("Fixed-cycle operation with operation code {op_code} OK!");
+            Ok(OpResult::Ok)
+        } else {
+            println!("Fixed-cycle operation failure by passing op code {op_code}!");
+            Err(ExampleError::new("Example Task Failure"))
+        }
+    }
+}
+
+impl Executable for PeriodicTask {
+    type Error = ExampleError;
+    const EXEC_TYPE: ExecutionType = ExecutionType::Cycles(5);
+    const TASK_NAME: &'static str = "Fixed Cycles Task";
+
+    fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
+        if op_code >= 0 {
+            println!("Periodic operation with operation code {op_code} OK!");
+            Ok(OpResult::Ok)
+        } else {
+            println!("Periodic operation failure by passing op code {op_code}!");
             Err(ExampleError::new("Example Task Failure"))
         }
     }
 }
 
 fn main() {
-    let exec_task = ExampleTask {};
+    let exec_task = OneShotTask {};
-    let jhandle = test_thread(exec_task, 0);
+    let mut task_vec = Vec::new();
-    let exec_task2 = ExampleTask {};
+    task_vec.push(exec_task);
-    let jhandle2 = test_thread(exec_task2, 1);
+    let jhandle = test_thread(task_vec, Some(Duration::from_millis(500)), 0);
+    let exec_task2 = FixedCyclesTask {};
+    let mut task_vec2 = Vec::new();
+    task_vec2.push(exec_task2);
+    let jhandle2 = test_thread(task_vec2, Some(Duration::from_millis(1000)), 1);
     jhandle
         .join()
         .expect("Joining thread failed")
@@ -65,26 +102,38 @@ fn main() {
 }
 
 fn test_thread<T: Executable<Error = E> + Send + 'static, E: Error + Send + 'static>(
-    mut executable: T,
+    mut executable_vec: Vec<T>,
-    op_code: u32,
+    task_freq: Option<Duration>,
+    op_code: i32,
 ) -> JoinHandle<Result<OpResult, E>> {
-    thread::spawn(move || match T::EXEC_TYPE {
+    let mut cycle_counts = vec![0; executable_vec.len()];
-        ExecutionType::OneShot => executable.periodic_op(op_code),
+    let mut removal_flags = vec![false; executable_vec.len()];
-        ExecutionType::Infinite => loop {
+    thread::spawn(move || loop {
-            executable.periodic_op(op_code)?;
+        for (idx, executable) in executable_vec.iter_mut().enumerate() {
-            let freq = T::TASK_FREQ
+            match T::EXEC_TYPE {
-                .unwrap_or_else(|| panic!("No task frequency specified for task {}", T::TASK_NAME));
+                ExecutionType::OneShot => {
-            thread::sleep(freq)
+                    executable.periodic_op(op_code)?;
-        },
+                    removal_flags[idx] = true;
-        ExecutionType::Cycles(cycles) => {
+                }
-            for _i in 0..cycles - 1 {
+                ExecutionType::Infinite => {
-                executable.periodic_op(op_code)?;
+                    executable.periodic_op(op_code)?;
-                let freq = T::TASK_FREQ.unwrap_or_else(|| {
+                }
-                    panic!("No task frequency specified for task {}", T::TASK_NAME)
+                ExecutionType::Cycles(cycles) => {
-                });
+                    executable.periodic_op(op_code)?;
-                thread::sleep(freq)
+                    cycle_counts[idx] += 1;
+                    if cycle_counts[idx] == cycles {
+                        removal_flags[idx] = true;
+                    }
+                }
             }
-            Ok(OpResult::Ok)
         }
+        executable_vec.retain(|_| !*removal_flags.iter().next().unwrap());
+        removal_flags.retain(|&i| i == false);
+        if executable_vec.is_empty() {
+            return Ok(OpResult::Ok);
+        }
+        let freq = task_freq
+            .unwrap_or_else(|| panic!("No task frequency specified for task {}", T::TASK_NAME));
+        thread::sleep(freq);
     })
 }