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

/*******************************************************************************
 * Copyright (c) 2009-2016, MAV'RIC Development Team
 * All rights reserved.
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/*******************************************************************************
 * \file scheduler.hpp
 *
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Julien Lecoeur
 *
 * \brief Scheduler
 *
 ******************************************************************************/


#ifndef SCHEDULER_HPP_
#define SCHEDULER_HPP_

#include <cstdint>
#include "runtime/scheduler_task.hpp"

#include "util/print_util.hpp"

class Scheduler
{

public:
    static const uint32_t TIMEBASE = 1000000;

    enum strategy_t
    {
        ROUND_ROBIN,                
        FIXED_PRIORITY              
    };


    struct conf_t
    {
        Scheduler::strategy_t schedule_strategy;    
        bool debug;                                 
    };


    Scheduler(const Scheduler::conf_t config = default_config());


    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);


    bool sort_tasks(void);


    int32_t update(void);


    const Scheduler_task* get_task_by_id(uint16_t task_id) const;
    Scheduler_task* get_task_by_id(uint16_t task_id);


    const Scheduler_task* get_task_by_index(uint16_t task_index) const;
    Scheduler_task* get_task_by_index(uint16_t task_index);


    void suspend_all_tasks(uint32_t delay);


    void run_all_tasks_now(void);


    uint32_t task_count(void) const;


    static Scheduler::conf_t default_config(void);

protected:
    virtual uint32_t max_task_count(void) = 0;


    virtual Scheduler_task* tasks(void) = 0;
    virtual const Scheduler_task* tasks(void) const = 0;

private:
    strategy_t schedule_strategy_;               
    bool debug_;                                 
    uint32_t task_count_;                        
    uint32_t current_schedule_slot_;             
};


template<uint32_t N = 10>
class Scheduler_T: public Scheduler
{
public:
    Scheduler_T(const Scheduler::conf_t config = default_config()):
        Scheduler(config)
    {;}

protected:

    uint32_t max_task_count(void)
    {
        return N;
    };

    Scheduler_task* tasks(void)
    {
        return tasks_;
    }

    const Scheduler_task* tasks(void) const
    {
        return tasks_;
    }

private:
    Scheduler_task  tasks_[N];           
};

#include "scheduler.hxx"

#endif /* SCHEDULER_HPP_ */