From 352bc02de84996999e6d400a2adc86346c6a87ed Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Wed, 28 Dec 2022 16:28:24 +0100
Subject: [PATCH] [TaskScheduler] Use `std::greater` instead of inverting
event's `operator<`
---
src/shared/scheduler/TaskScheduler.cpp | 2 +-
src/shared/scheduler/TaskScheduler.h | 21 +++++++++++++++------
2 files changed, 16 insertions(+), 7 deletions(-)
diff --git a/src/shared/scheduler/TaskScheduler.cpp b/src/shared/scheduler/TaskScheduler.cpp
index 824f3d8aa..fd522b481 100644
--- a/src/shared/scheduler/TaskScheduler.cpp
+++ b/src/shared/scheduler/TaskScheduler.cpp
@@ -152,7 +152,7 @@ void TaskScheduler::normalizeTasks()
{
int64_t currentTick = getTick();
- std::priority_queue<Event> newAgenda;
+ EventQueue newAgenda;
while (agenda.size() > 0)
{
Event event = agenda.top();
diff --git a/src/shared/scheduler/TaskScheduler.h b/src/shared/scheduler/TaskScheduler.h
index dacad42fb..97d4ef87e 100644
--- a/src/shared/scheduler/TaskScheduler.h
+++ b/src/shared/scheduler/TaskScheduler.h
@@ -59,7 +59,7 @@ namespace Boardcore
class TaskScheduler : public ActiveObject
{
public:
- typedef std::function<void()> function_t;
+ using function_t = std::function<void()>;
/**
* @brief It defines the tasks array maximum size
@@ -165,14 +165,23 @@ private:
{
}
- bool operator<(const Event& e) const
+ /**
+ * @brief Compare two events based on the next tick.
+ * @note This is used to have the event with the lowest tick first in
+ * the agenda. Newly pushed events are moved up in the queue (see
+ * heap bubble-up) until the other tick is lower.
+ */
+ bool operator>(const Event& other) const
{
- // Note: operator < is reversed, so that the priority_queue will
- // return the lowest element first
- return this->nextTick > e.nextTick;
+ return this->nextTick > other.nextTick;
}
};
+ // Use `std::greater` as the comparator to have elements with the lowest
+ // tick first. Requires operator `>` to be defined for Event.
+ using EventQueue =
+ std::priority_queue<Event, std::vector<Event>, std::greater<Event>>;
+
void run() override;
/**
@@ -227,7 +236,7 @@ private:
miosix::FastMutex mutex; ///< Mutex to protect tasks and agenda.
std::array<Task, TASKS_SIZE>* tasks; ///< Holds all tasks to be scheduled.
miosix::ConditionVariable condvar; ///< Used when agenda is empty.
- std::priority_queue<Event> agenda; ///< Ordered list of functions.
+ EventQueue agenda; ///< Ordered list of functions.
PrintLogger logger = Logging::getLogger("taskscheduler");
};
--
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