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41 lines
1001 B
C++
41 lines
1001 B
C++
#pragma once
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#include "Lock.h"
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#include <cstdint>
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#include <unordered_set>
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namespace concurrency {
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class PeriodicTask;
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/**
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* @brief Runs all PeriodicTasks in the system. Currently called from main loop()
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* but eventually should be its own thread blocked on a freertos timer.
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*/
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class PeriodicScheduler
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{
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friend class PeriodicTask;
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/**
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* This really should be some form of heap, and when the period gets changed on a task it should get
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* rescheduled in that heap. Currently it is just a dumb array and everytime we run loop() we check
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* _every_ tasks. If it was a heap we'd only have to check the first task.
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*/
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std::unordered_set<PeriodicTask *> tasks;
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// Protects the above variables.
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Lock lock;
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public:
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/// Run any next tasks which are due for execution
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void loop();
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private:
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void schedule(PeriodicTask *t);
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void unschedule(PeriodicTask *t);
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};
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extern PeriodicScheduler periodicScheduler;
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} // namespace concurrency
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