Scheduler.h File Reference

#include <stdbool.h>
#include "PriorityQueue.h"

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Classes
struct	Scheduler

Macros
#define	MAX_SENSORS   10
#define	MAX_HZ   1000

Typedefs
typedef struct Scheduler	Scheduler

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...

Macro Definition Documentation

MAX_HZ

#define MAX_HZ   1000

Definition at line 9 of file Scheduler.h.

MAX_SENSORS

#define MAX_SENSORS   10

Definition at line 8 of file Scheduler.h.

Typedef Documentation

Scheduler

typedef struct Scheduler Scheduler

Function Documentation

SchedulerInit()

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

Initializes the scheduler with the given sensors.

Parameters

scheduler	Pointer to the Scheduler structure to initialize.
updateableArray	Array of pointers to Updateable structures to be scheduled.

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.

Parameters

scheduler

Pointer to the Scheduler structure to run.

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;
}