Scheduler_task Class Reference

Task entry. More...

#include <scheduler_task.hpp>

List of all members.

Classes
struct	function
	Prototype of a task function and its argument. More...
Public Types
enum	return_t { RUN_ERROR = -1, RUN_BLOCKED = 0, RUN_SUCCESS = 1 }
	Task return code. More...
enum	run_mode_t { RUN_NEVER, RUN_ONCE, RUN_REGULAR }
	Task run mode. More...
enum	timing_mode_t { PERIODIC_ABSOLUTE, PERIODIC_RELATIVE }
	Task timing mode. More...
enum	priority_t {   PRIORITY_LOWEST = 0, PRIORITY_LOW = 1, PRIORITY_NORMAL = 2, PRIORITY_HIGH = 3,   PRIORITY_HIGHEST = 4 }
	Task priority. More...
Public Member Functions
	Scheduler_task (void)
	Default Constructor.
template<typename T >
	Scheduler_task (uint32_t repeat_period, run_mode_t run_mode, timing_mode_t timing_mode, priority_t priority, typename function< T >::type_t task_function, T *task_argument, int32_t task_id)
	Constructor.
void	set_run_mode (run_mode_t mode)
	Modifies the run mode of an existing task.
void	run_now ()
	Run a task immediately.
void	suspend (uint32_t delay)
	Suspends a task.
void	change_period (uint32_t repeat_period)
	Modifies the period of execution of an existing task.
int32_t	get_id ()
	Returns the ID of the task.
bool	execute ()
	Executes tasks and updates statistics.
bool	is_due ()
	Checks if the task is due.
Public Attributes
int32_t	task_id
	Unique task identifier.
run_mode_t	run_mode
	Run mode.
timing_mode_t	timing_mode
	Timing mode.
priority_t	priority
	Priority.
uint32_t	repeat_period
	Period between two calls (us)
uint32_t	next_run
	Next execution time.
float	execution_time
	Execution time.
float	execution_time_avg
	Average execution time.
float	execution_time_var
	Variance of execution time.
float	execution_time_max
	Maximum execution time.
float	delay
	Delay between expected execution and actual execution.
float	delay_avg
	Average delay.
float	delay_var
	Variance of delay.
float	delay_max
	Maximum delay.
uint32_t	rt_violations
	Number of Real-time violations, this is incremented each time an execution is skipped.

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Detailed Description

Task entry.

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Member Enumeration Documentation

enum Scheduler_task::priority_t

Task priority.

Enumerator:

PRIORITY_LOWEST	Lowest priority.
PRIORITY_LOW	Low priority.
PRIORITY_NORMAL	Normal priority.
PRIORITY_HIGH	High priority.
PRIORITY_HIGHEST	Highest priority.

enum Scheduler_task::return_t

Task return code.

Enumerator:

RUN_ERROR	The task was not not successfully executed.
RUN_BLOCKED	If a task returns "TASK_RUN_BLOCKED", the scheduler will try to re-run at the next schedule update, and not update "next_run".
RUN_SUCCESS	The task was successfully executed.

enum Scheduler_task::run_mode_t

Task run mode.

Enumerator:

RUN_NEVER	The task will not be executed.
RUN_ONCE	The task will be executed only once.
RUN_REGULAR	The task will be executed periodically.

enum Scheduler_task::timing_mode_t

Task timing mode.

Enumerator:

PERIODIC_ABSOLUTE	The task will be executed according to a fixed schedule (ie. regardless of past delays or realtime violations)
PERIODIC_RELATIVE	The task will be executed with constant period relative to the last execution.

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Constructor & Destructor Documentation

template<typename T >

Scheduler_task::Scheduler_task	(	uint32_t	repeat_period,
		run_mode_t	run_mode,
		timing_mode_t	timing_mode,
		priority_t	priority,
		typename function< T >::type_t	task_function,
		T *	task_argument,
		int32_t	task_id
	)

Constructor.

Template Parameters:

T	Type of the module

Parameters:

repeat_period	Repeat period in us
run_mode	Run mode, defined in enum Scheduler_task::run_mode_t
timing_mode	Timing mode, defined in Scheduler_task::timing_mode_t
priority	Priority ,defined in Scheduler_task::priority_t
task_function	Function to call
task_argument	Argument of the funtion to call
task_id	ID of the task

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Member Function Documentation

void Scheduler_task::change_period

(

uint32_t

repeat_period

)

Modifies the period of execution of an existing task.

Parameters:

repeat_period

New repeat period (us)

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bool Scheduler_task::execute

(

)

Executes tasks and updates statistics.

Returns:

True if no real-time violation occured, false otherwise

int32_t Scheduler_task::get_id

(

)

Returns the ID of the task.

Returns:

task_id

bool Scheduler_task::is_due

(

)

Checks if the task is due.

Returns:

True if the task is due

void Scheduler_task::set_run_mode

(

run_mode_t

mode

)

Modifies the run mode of an existing task.

Parameters:

new_run_mode

New run mode

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void Scheduler_task::suspend

(

uint32_t

delay

)

Suspends a task.

Parameters:

delay

Duration (us)

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

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