Merge pull request #8 from aleemont1/scheduler

Implement scheduler

smart_bridge/platformio.ini

@@ -1,18 +1,19 @@
-; PlatformIO Project Configuration File
-;
-;   Build options: build flags, source filter
-;   Upload options: custom upload port, speed and extra flags
-;   Library options: dependencies, extra library storages
-;   Advanced options: extra scripting
-;
-; Please visit documentation for the other options and examples
-; https://docs.platformio.org/page/projectconf.html
-
-[env:uno]
-platform = atmelavr
-board = uno
-framework = arduino
-lib_deps = 
-	arduino-libraries/Servo@^1.2.1
-	marcoschwartz/LiquidCrystal_I2C@^1.1.4
-	Wire
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:uno]
+platform = atmelavr
+board = uno
+framework = arduino
+lib_deps = 
+	arduino-libraries/Servo@^1.2.1
+	marcoschwartz/LiquidCrystal_I2C@^1.1.4
+	Wire
+	paulstoffregen/TimerOne@^1.1.1

smart_bridge/src/kernel/Scheduler.cpp

@@ -0,0 +1,57 @@
+#include "Scheduler.h"
+#include <TimerOne.h>
+
+volatile bool timerFlag = false;
+
+void timeHandler(void)
+{
+    timerFlag = true;
+}
+
+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;
+}
+
+bool Scheduler::addTask(Task *task)
+{
+    if (this->numTasks < MAX_TASKS - 1)
+    {
+        this->tasks[this->numTasks++] = task;
+        return true;
+    }
+    return false;
+}
+
+void Scheduler::schedule()
+{
+    while (!timerFlag);
+    timerFlag = false;
+
+    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);
+            }
+        }
+    }
+}

smart_bridge/src/kernel/Scheduler.h

@@ -0,0 +1,19 @@
+#ifndef __SCHEDULER__
+#define __SCHEDULER__
+
+#include "Task.h"
+
+#define MAX_TASKS 30
+class Scheduler {
+    //A simple cooperative scheduler to execute tasks
+    Task *tasks[MAX_TASKS];
+    int numTasks;
+    int period;
+
+    public:
+        void init(int period);
+        virtual bool addTask(Task *task);
+        virtual void schedule();
+};
+
+#endif