scheduler.h

/*******************************************************************************
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 * 
 * 1. Redistributions of source code must retain the above copyright notice, 
 * this list of conditions and the following disclaimer.
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 * 2. Redistributions in binary form must reproduce the above copyright notice, 
 * this list of conditions and the following disclaimer in the documentation 
 * and/or other materials provided with the distribution.
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 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
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/*******************************************************************************
 * \file scheduler.h
 * 
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Julien Lecoeur
 *   
 * \brief Scheduler
 *
 ******************************************************************************/


#ifndef SCHEDULER_H_
#define SCHEDULER_H_


#ifdef __cplusplus
extern "C" 
{
#endif

#include "stdint.h"
#include <stdbool.h>

#define SCHEDULER_TIMEBASE 1000000  


typedef uint8_t task_handle_t;


typedef enum 
{
    TASK_RUN_ERROR   = -1,      
    TASK_RUN_BLOCKED = 0,       
    TASK_RUN_SUCCESS = 1        
} task_return_t;


typedef void* task_argument_t;


typedef task_return_t (*task_function_t)(task_argument_t);


typedef enum 
{
    RUN_NEVER,                  
    RUN_ONCE,                   
    RUN_REGULAR                 
} task_run_mode_t;


typedef enum 
{
    PERIODIC_ABSOLUTE,          
    PERIODIC_RELATIVE           
} task_timing_mode_t;


typedef enum
{
    PRIORITY_LOWEST  = 0,       
    PRIORITY_LOW     = 1,       
    PRIORITY_NORMAL  = 2,       
    PRIORITY_HIGH    = 3,       
    PRIORITY_HIGHEST = 4        
} task_priority_t;


typedef enum  
{
    ROUND_ROBIN,                
    FIXED_PRIORITY              
} schedule_strategy_t;


typedef struct
{   
    task_function_t     call_function;          
    task_argument_t     function_argument;      
    uint32_t            task_id;                
    task_run_mode_t     run_mode;               
    task_timing_mode_t  timing_mode;            
    task_priority_t     priority;               
    uint32_t            repeat_period;          
    uint32_t            next_run;               
    uint32_t            execution_time;         
    uint32_t            delay_max;              
    uint32_t            delay_avg;              
    uint32_t            delay_var_squared;      
    uint32_t            rt_violations;          
} task_entry_t;


typedef struct task_set_t
{
    uint32_t task_count;                        
    uint32_t max_task_count;                    
    uint32_t current_schedule_slot;             
    task_entry_t tasks[];                       
} task_set_t;


typedef struct
{
    bool debug;                                 
    schedule_strategy_t schedule_strategy;      
    task_set_t* task_set;                       
} scheduler_t;


typedef struct
{
    uint32_t max_task_count;                    
    schedule_strategy_t schedule_strategy;      
    bool debug;                                 
} scheduler_conf_t;


bool scheduler_init( scheduler_t* scheduler, const scheduler_conf_t* config);


bool scheduler_add_task(scheduler_t* scheduler, uint32_t repeat_period, task_run_mode_t run_mode, task_timing_mode_t timing_mode, task_priority_t priority, task_function_t call_function, task_argument_t function_argument, uint32_t task_id);


void scheduler_sort_tasks(scheduler_t* scheduler);


int32_t scheduler_update(scheduler_t* scheduler);


task_entry_t* scheduler_get_task_by_id(const scheduler_t* scheduler, uint16_t task_id);


task_entry_t* scheduler_get_task_by_index(const scheduler_t* scheduler, uint16_t task_index);


void scheduler_change_run_mode(task_entry_t *te, task_run_mode_t new_run_mode);


void scheduler_change_task_period(task_entry_t *te, uint32_t repeat_period);


void scheduler_suspend_task(task_entry_t *te, uint32_t delay);


void scheduler_run_task_now(task_entry_t *te);

#ifdef __cplusplus
}
#endif

#endif /* SCHEDULER_H_ */