diff --git a/src/shared/scheduler/TaskScheduler.cpp b/src/shared/scheduler/TaskScheduler.cpp
index a071374d1aa8ba12b98881314fd6a76c1d3c339a..cb9d4107f71cabaa976c5cfcc04b89a7122b2933 100644
--- a/src/shared/scheduler/TaskScheduler.cpp
+++ b/src/shared/scheduler/TaskScheduler.cpp
@@ -35,40 +35,36 @@ namespace Boardcore
TaskScheduler::TaskScheduler()
: ActiveObject(STACK_MIN_FOR_SKYWARD, miosix::PRIORITY_MAX - 1)
{
- stopFlag = false;
- running = false;
- possibleFreeID = 1;
+ stopFlag = false;
+ running = false;
}
-uint8_t TaskScheduler::addTask(function_t function, uint32_t period,
- Policy policy, int64_t startTick)
+size_t TaskScheduler::addTask(function_t function, uint32_t period,
+ Policy policy, int64_t startTick)
{
Lock<FastMutex> lock(mutex);
- uint8_t id = possibleFreeID;
+ size_t id = 1;
// Find a suitable id for the new task
- for (; id < 255 && tasks[id] != nullptr; ++id)
+ for (; id < TASKS_SIZE && tasks[id].valid == false; id++)
;
- possibleFreeID = id + 1;
// Check if in the corresponding id there's already a task
- if (tasks[id] != nullptr)
+ if (tasks[id].valid)
{
- LOG_ERR(logger, "Full task scheduler, id = 255");
+ LOG_ERR(logger, "Full task scheduler, id = {:zu}", id);
return 0;
}
// Register the task into the map
- Task* task =
- new Task{function, period, id, true, policy, -1, {}, {}, {}, 0, 0};
- tasks[id] = task;
+ tasks[id] = makeTask(function, period, id, true, policy);
if (policy == Policy::ONE_SHOT)
startTick += period;
// Add the task first event in the agenda
- Event event = {task, startTick};
+ Event event = {&(tasks[id]), startTick};
agenda.push(event);
condvar.broadcast(); // Signals the run thread
@@ -80,21 +76,14 @@ bool TaskScheduler::removeTask(uint8_t id)
Lock<FastMutex> lock(mutex);
// Check if the task is actually present
- if (tasks[id] == nullptr)
+ if (tasks[id].valid == false)
{
LOG_ERR(logger, "Attempting to remove a task not registered");
return false;
}
// Set the validity of the task to false
- tasks[id]->valid = false;
-
- // Remove the task from the tasks array
- // We do not deallocate the task here because of future deallocation when
- // popped from queue
- tasks[id] = nullptr;
- if (id < possibleFreeID)
- possibleFreeID = id;
+ tasks[id].valid = false;
return true;
}
@@ -128,7 +117,7 @@ vector<TaskStatsResult> TaskScheduler::getTaskStats()
for (auto& task : tasks)
{
- if (task != nullptr)
+ if (task.valid)
result.push_back(fromTaskIdPairToStatsResult(task));
}
@@ -206,7 +195,6 @@ void TaskScheduler::run()
{
if (!nextEvent.task->valid)
{
- delete nextEvent.task;
agenda.pop();
}
@@ -248,9 +236,7 @@ void TaskScheduler::enqueue(Event& event, int64_t startTick)
case Policy::ONE_SHOT:
// If the task is one shot we won't push it to the agenda and we'll
// remove it from the tasks map.
- tasks[event.task->id] = nullptr;
- if (event.task->id < possibleFreeID)
- possibleFreeID = event.task->id;
+ tasks[event.task->id].valid = false;
delete event.task;
return;
@@ -280,4 +266,11 @@ void TaskScheduler::enqueue(Event& event, int64_t startTick)
condvar.broadcast();
}
+TaskScheduler::Task TaskScheduler::makeTask(function_t function,
+ uint32_t period, size_t id,
+ bool validity, Policy policy)
+{
+ return Task{function, period, id, validity, policy, -1, {}, {}, {}, 0, 0};
+}
+
} // namespace Boardcore
diff --git a/src/shared/scheduler/TaskScheduler.h b/src/shared/scheduler/TaskScheduler.h
index daa18abdd1f52b0d6644b7f6287b5f792e5c5ad1..0efe40985e90d90fff586aadbb15f6fd85821f1b 100644
--- a/src/shared/scheduler/TaskScheduler.h
+++ b/src/shared/scheduler/TaskScheduler.h
@@ -61,6 +61,11 @@ class TaskScheduler : public ActiveObject
public:
typedef std::function<void()> function_t;
+ /**
+ * @brief It defines the tasks array maximum size
+ */
+ static constexpr size_t TASKS_SIZE = 256;
+
/**
* @brief Task behavior policy.
*
@@ -107,9 +112,9 @@ public:
* @param startTick First activation time, useful for synchronizing tasks.
* @return true if the task was added successfully.
*/
- uint8_t addTask(function_t function, uint32_t period,
- Policy policy = Policy::SKIP,
- int64_t startTick = miosix::getTick());
+ size_t addTask(function_t function, uint32_t period,
+ Policy policy = Policy::SKIP,
+ int64_t startTick = miosix::getTick());
/**
* @brief Removes the task identified by the given id if it exists.
@@ -136,7 +141,7 @@ private:
{
function_t function;
uint32_t period;
- uint8_t id;
+ size_t id;
bool valid;
Policy policy;
int64_t lastCall; ///< Last activation tick for statistics computation.
@@ -186,23 +191,35 @@ private:
*/
void enqueue(Event& event, int64_t startTick);
- static TaskStatsResult fromTaskIdPairToStatsResult(Task* task)
+ /**
+ * @brief Creates a task with the passed values
+ *
+ * @param function The std::function to be called
+ * @param period The Period in [ms]
+ * @param id The task intrinsic id
+ * @param validity The validity of the task (false if not initialized or if
+ * removed)
+ * @param policy The task policy in case of a miss
+ */
+ Task makeTask(function_t function, uint32_t period, size_t id,
+ bool validity, Policy policy);
+
+ static TaskStatsResult fromTaskIdPairToStatsResult(Task task)
{
- return TaskStatsResult{task->id,
- task->period,
- task->activationStats.getStats(),
- task->periodStats.getStats(),
- task->workloadStats.getStats(),
- task->missedEvents,
- task->failedEvents};
+ return TaskStatsResult{task.id,
+ task.period,
+ task.activationStats.getStats(),
+ task.periodStats.getStats(),
+ task.workloadStats.getStats(),
+ task.missedEvents,
+ task.failedEvents};
}
- miosix::FastMutex mutex; ///< Mutex to protect tasks and agenda.
- std::array<Task*, 256> tasks{}; ///< Holds all tasks to be scheduled.
- miosix::ConditionVariable condvar; ///< Used when agenda is empty.
- std::priority_queue<Event> agenda; ///< Ordered list of functions.
- uint8_t possibleFreeID;
+ 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.
PrintLogger logger = Logging::getLogger("taskscheduler");
};
diff --git a/src/shared/scheduler/TaskSchedulerData.h b/src/shared/scheduler/TaskSchedulerData.h
index f1c43d31f10ff54c1b2a6d26bf9932647a3a4769..8b612714a0f1bda9de9a29914a9f7d71560248c3 100644
--- a/src/shared/scheduler/TaskSchedulerData.h
+++ b/src/shared/scheduler/TaskSchedulerData.h
@@ -43,7 +43,7 @@ namespace Boardcore
*/
struct TaskStatsResult
{
- uint8_t id;
+ size_t id;
uint32_t period;
StatsResult activationStats;
StatsResult periodStats;