MAV'RIC
/home/travis/build/lis-epfl/MAVRIC_Library/runtime/scheduler.hxx
00001 /*******************************************************************************
00002  * Copyright (c) 2009-2016, MAV'RIC Development Team
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00031 
00032 /*******************************************************************************
00033  * \file scheduler.hxx
00034  *
00035  * \author MAV'RIC Team
00036  * \author Felix Schill
00037  * \author Julien Lecoeur
00038  *
00039  * \brief Scheduler
00040  *
00041  ******************************************************************************/
00042 
00043 template<typename T>
00044 bool Scheduler::add_task( uint32_t                                      repeat_period,
00045                           typename Scheduler_task::function<T>::type_t  task_function,
00046                           T*                                            task_argument,
00047                           Scheduler_task::priority_t                    priority,
00048                           Scheduler_task::timing_mode_t                 timing_mode,
00049                           Scheduler_task::run_mode_t                    run_mode,
00050                           int32_t                                       task_id)
00051 {
00052     bool task_successfully_added = false;
00053 
00054     // Check if the scheduler is not full
00055     if (task_count_ < max_task_count())
00056     {
00057         if (task_id == -1)
00058         {
00059            task_id = task_count_;
00060         }
00061 
00062         // Check if there is already a task with this ID
00063         bool id_is_unique = true;
00064         for (uint32_t i = 0; i < task_count_; ++i)
00065         {
00066             if (tasks()[i].get_id() == task_id)
00067             {
00068                 id_is_unique = false;
00069                 break;
00070             }
00071         }
00072 
00073         // Add new task
00074         if (id_is_unique == true)
00075         {
00076             tasks()[task_count_++] = Scheduler_task(repeat_period,
00077                                                     run_mode,
00078                                                     timing_mode,
00079                                                     priority,
00080                                                     task_function,
00081                                                     task_argument,
00082                                                     task_id);
00083             task_successfully_added = true;
00084         }
00085         else
00086         {
00087             print_util_dbg_print("[SCHEDULER] Error: There is already a task with this ID\r\n");
00088             task_successfully_added = false;
00089         }
00090     }
00091     else
00092     {
00093         print_util_dbg_print("[SCHEDULER] Error: Cannot add more task\r\n");
00094         task_successfully_added = false;
00095     }
00096 
00097     return task_successfully_added;
00098 }
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