MAV'RIC
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00001 /******************************************************************************* 00002 * Copyright (c) 2009-2016, MAV'RIC Development Team 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright notice, 00009 * this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above copyright notice, 00012 * this list of conditions and the following disclaimer in the documentation 00013 * and/or other materials provided with the distribution. 00014 * 00015 * 3. Neither the name of the copyright holder nor the names of its contributors 00016 * may be used to endorse or promote products derived from this software without 00017 * specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 ******************************************************************************/ 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 }