Scheduler Class Reference

Scheduler base class. More...

#include <scheduler.hpp>

Inheritance diagram for Scheduler:

List of all members.

Classes
struct	conf_t
	Scheduler configuration. More...
Public Types
enum	strategy_t { ROUND_ROBIN, FIXED_PRIORITY }
	Scheduling strategy. More...
Public Member Functions
	Scheduler (const Scheduler::conf_t config=default_config())
	Constructor.
template<typename T >
bool	add_task (uint32_t repeat_period, typename Scheduler_task::function< T >::type_t task_function, T *task_argument, Scheduler_task::priority_t priority=Scheduler_task::PRIORITY_NORMAL, Scheduler_task::timing_mode_t timing_mode=Scheduler_task::PERIODIC_ABSOLUTE, Scheduler_task::run_mode_t run_mode=Scheduler_task::RUN_REGULAR, int32_t task_id=-1)
	Register a new task to the task set, in the first available slot.
bool	sort_tasks (void)
	Sort tasks by decreasing priority, then by increasing repeat period.
int32_t	update (void)
	Run update (check for tasks ready for execution and execute them)
const Scheduler_task *	get_task_by_id (uint16_t task_id) const
	Find a task according to its idea.
Scheduler_task *	get_task_by_id (uint16_t task_id)
const Scheduler_task *	get_task_by_index (uint16_t task_index) const
	Find a task according to its index.
Scheduler_task *	get_task_by_index (uint16_t task_index)
void	suspend_all_tasks (uint32_t delay)
	Suspends all tasks.
void	run_all_tasks_now (void)
	Run all tasks immediately.
uint32_t	task_count (void) const
	Return the number of tasks.
Static Public Member Functions
static Scheduler::conf_t	default_config (void)
	Creates and returns default config for schedulers.
Static Public Attributes
static const uint32_t	TIMEBASE = 1000000
	< time base for the scheduler
Protected Member Functions
virtual uint32_t	max_task_count (void)=0
	Get maximum number of tasks.
virtual Scheduler_task *	tasks (void)=0
	Get pointer to the task list.
virtual const Scheduler_task *	tasks (void) const =0

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Detailed Description

Scheduler base class.

This class is abstract and does not contains the task list, use the child class Scheduler_T

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Member Enumeration Documentation

enum Scheduler::strategy_t

Scheduling strategy.

Enumerator:

ROUND_ROBIN	Round robin scheduling.
FIXED_PRIORITY	Fixed priority scheduling.

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Constructor & Destructor Documentation

Scheduler::Scheduler

(

const Scheduler::conf_t

config = default_config()

)

Constructor.

Parameters:

config

Configuration

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Member Function Documentation

template<typename T >

bool Scheduler::add_task	(	uint32_t	repeat_period,
		typename Scheduler_task::function< T >::type_t	task_function,
		T *	task_argument,
		Scheduler_task::priority_t	priority = Scheduler_task::PRIORITY_NORMAL,
		Scheduler_task::timing_mode_t	timing_mode = Scheduler_task::PERIODIC_ABSOLUTE,
		Scheduler_task::run_mode_t	run_mode = Scheduler_task::RUN_REGULAR,
		int32_t	task_id = -1
	)

Register a new task to the task set, in the first available slot.

Parameters:

repeat_period	Repeat period (us)
task_function	Function pointer to be called
task_argument	Argument to be passed to the function
priority	Priority
task_id	Unique task identifier, if -1 the ID will be automatically chosen
timing_mode	Timing mode
run_mode	Run mode

Returns:

True if the task was successfully added, False if not

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Scheduler::conf_t Scheduler::default_config

(

void

)

[static]

Creates and returns default config for schedulers.

Returns:

default_config

const Scheduler_task * Scheduler::get_task_by_id

(

uint16_t

task_id

)

const

Find a task according to its idea.

Parameters:

task_id

ID of the target task

Returns:

Pointer to the target task

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const Scheduler_task * Scheduler::get_task_by_index

(

uint16_t

task_index

)

const

Find a task according to its index.

Parameters:

task_index

Index of the target task

Returns:

Pointer to the target task

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virtual uint32_t Scheduler::max_task_count

(

void

)

[protected, pure virtual]

Get maximum number of tasks.

To be overriden by child class

Returns:

Maximum number of tasks

Implemented in Scheduler_T< N >, and Scheduler_T< 20 >.

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bool Scheduler::sort_tasks

(

void

)

Sort tasks by decreasing priority, then by increasing repeat period.

Returns:

True if the task was successfully sorted, False if not

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void Scheduler::suspend_all_tasks

(

uint32_t

delay

)

Suspends all tasks.

Parameters:

delay

Duration (us)

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virtual Scheduler_task* Scheduler::tasks

(

void

)

[protected, pure virtual]

Get pointer to the task list.

Abstract method to be implemented in child classes

Returns:

task list

Implemented in Scheduler_T< N >, and Scheduler_T< 20 >.

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int32_t Scheduler::update

(

void

)

Run update (check for tasks ready for execution and execute them)

Returns:

Number of realtime violations

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The documentation for this class was generated from the following files:

• /home/travis/build/lis-epfl/MAVRIC_Library/runtime/scheduler.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/runtime/scheduler.cpp
• /home/travis/build/lis-epfl/MAVRIC_Library/runtime/scheduler.hxx