Scheduler.c File Reference

#include <time.h>
#include <stdint.h>
#include "../../Inc/Scheduler/Scheduler.h"

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Functions
void	SchedulerInit (Scheduler *scheduler, Updateable *updatableArray[])
	Initializes the scheduler with the given sensors. More...
void	SchedulerRun (Scheduler *scheduler)
	Runs the scheduler, executing tasks based on their priority. More...
void	SchedulerStop (Scheduler *scheduler)
	Stops the scheduler. More...

Function Documentation

SchedulerInit()

void SchedulerInit	(	Scheduler *	scheduler,
		Updateable *	updatableArray[]
	)

Initializes the scheduler with the given sensors.

Initializes the priority queue and schedules tasks based on the given sensors and their update frequencies. Limits the number of sensors to MAX_SENSORS.

Definition at line 14 of file Scheduler.c.

                                                                       {
    PQInit(&scheduler->tasks);
    scheduler->running = false;
 
    for (int i = 0; updatableArray[i] != NULL; i++) {
        if (i >= MAX_SENSORS) {
            printf("Warning: Number of sensors exceeds MAX_SENSORS. "
                   "Some sensors will not be scheduled.\n");
            break;
        }
 
        Updateable* updateable = updatableArray[i];
        if (updateable->hz <= 0 || updateable->hz > MAX_HZ) {
            continue; // Skip invalid frequencies
        }
 
        Task task;
        TaskInit(&task, updateable, updateable->hz);
        int hz = 1000 / updateable->hz;
        int initialPriority = clock() / (CLOCKS_PER_SEC / 1000) + hz;
        PQPush(&scheduler->tasks, task, initialPriority);
    }
}

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SchedulerRun()

void SchedulerRun

(

Scheduler *

scheduler

)

Runs the scheduler, executing tasks based on their priority.

Runs the scheduler, repeatedly executing tasks based on their scheduled execution times. Uses Sleep or usleep to avoid busy-waiting if no tasks are ready to execute.

Definition at line 43 of file Scheduler.c.

                                        {
    scheduler->running = true;
    Task currentTask;
 
    while (scheduler->running) {
        // if (timer_flag < 0) continue;
        // timer_flag--;
        // FIXME: Re-implement timer.
        // int currentTime = HAL_GetTick();
        int currentTime = 0;
 
        while (!PQIsEmpty(&scheduler->tasks) &&
               PQPeek(&scheduler->tasks, &currentTask) &&
               currentTask.nextExecTime <= currentTime) {
            if (PQPop(&scheduler->tasks, &currentTask)) {
                TaskExecute(&currentTask);
                currentTask.nextExecTime = currentTime + (1000 / currentTask.hz);
                PQPush(&scheduler->tasks, currentTask, currentTask.nextExecTime);  // Reinsert task with new priority
            }
        }
    }
}

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SchedulerStop()

void SchedulerStop

(

Scheduler *

scheduler

)

Stops the scheduler.

Parameters

scheduler

Pointer to the Scheduler structure to stop.

Definition at line 66 of file Scheduler.c.

                                         {
    scheduler->running = 0;
}