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[SCHEDULER] Implement basic scheduler
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#include "Scheduler.h" | ||
#include <TimerOne.h> | ||
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volatile bool timerFlag = false; | ||
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void timeHandler(void) | ||
{ | ||
timerFlag = true; | ||
} | ||
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void Scheduler::init(int period) | ||
{ | ||
this->period = period; | ||
timerFlag = false; | ||
long u_period = 1000L * period; | ||
Timer1.initialize(u_period); | ||
Timer1.attachInterrupt(timeHandler); | ||
this->numTasks = 0; | ||
} | ||
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bool Scheduler::addTask(Task *task) | ||
{ | ||
if (this->numTasks < MAX_TASKS - 1) | ||
{ | ||
this->tasks[this->numTasks++] = task; | ||
return true; | ||
} | ||
return false; | ||
} | ||
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void Scheduler::schedule() | ||
{ | ||
while (!timerFlag); | ||
timerFlag = false; | ||
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for (int i = 0; i < this->numTasks; i++) | ||
{ | ||
if (this->tasks[i]->isActive()) | ||
{ | ||
if (this->tasks[i]->isPeriodic()) | ||
{ | ||
if (this->tasks[i]->updateAndCheckTime(this->period)) | ||
{ | ||
this->tasks[i]->tick(); | ||
} | ||
} | ||
else | ||
{ | ||
this->tasks[i]->tick(); | ||
} | ||
if (this->tasks[i]->isCompleted()) | ||
{ | ||
this->tasks[i]->setActive(false); | ||
} | ||
} | ||
} | ||
} |