Scheduler.c

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#include <time.h>
#include <stdint.h>
#include "../../Inc/Scheduler/Scheduler.h"
// FIXME: Was supposed to be timer include.
// #include "../../Inc/stm32f7xx_hal_conf.h"
 
// Timer flag declared in the interrupt handler
// extern volatile uint32_t timer_flag;
 
void SchedulerInit(Scheduler* scheduler, Updateable* updatableArray[]) {
    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);
    }
}
 
void SchedulerRun(Scheduler* scheduler) {
    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
            }
        }
    }
}
 
void SchedulerStop(Scheduler* scheduler) {
    scheduler->running = 0;
}