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

/*******************************************************************************
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 * modification, are permitted provided that the following conditions are met:
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 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
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/*******************************************************************************
 * \file scheduler_task.hpp
 *
 * \author MAV'RIC Team
 *
 * \brief Task managed by the scheduler
 *
 ******************************************************************************/


#ifndef SCHEDULER_TASK_HPP_
#define SCHEDULER_TASK_HPP_

#include <cstdint>


class Scheduler_task
{
public:


    template<typename T>
    struct function
    {
        typedef bool(*type_t)(T*);
    };


    enum return_t
    {
        RUN_ERROR   = -1,      
        RUN_BLOCKED = 0,       
        RUN_SUCCESS = 1        
    };


    enum run_mode_t
    {
        RUN_NEVER,                  
        RUN_ONCE,                   
        RUN_REGULAR                 
    };


    enum timing_mode_t
    {
        PERIODIC_ABSOLUTE,          
        PERIODIC_RELATIVE           
    } ;


    enum priority_t
    {
        PRIORITY_LOWEST  = 0,       
        PRIORITY_LOW     = 1,       
        PRIORITY_NORMAL  = 2,       
        PRIORITY_HIGH    = 3,       
        PRIORITY_HIGHEST = 4        
    };


    Scheduler_task(void);


    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);

    void set_run_mode(run_mode_t mode);


    void run_now();


    void suspend(uint32_t delay);


    void change_period(uint32_t repeat_period);


    int32_t get_id();

    bool execute();

    bool is_due();

    int32_t             task_id;                
    run_mode_t          run_mode;               
    timing_mode_t       timing_mode;            
    priority_t          priority;               
    uint32_t            repeat_period;          
    uint32_t            next_run;               

    float               execution_time;         
    float               execution_time_avg;     
    float               execution_time_var;     
    float               execution_time_max;     
    float               delay;                  
    float               delay_avg;              
    float               delay_var;              
    float               delay_max;              
    uint32_t            rt_violations;          

private:
    function<void>::type_t  task_function;      
    void*                   task_argument;      
};

#include "scheduler_task.hxx"

#endif /* SCHEDULER_TASK_HPP_ */