scheduler.c

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/* -- Includes -- */
/* system libraries */
#include <stdio.h>
#include <stdlib.h>
#include <sys/time.h>
#include <unistd.h>
/* project libraries */
#include "scheduler.h"
#include "task.h"
#include "timelib.h"

/* -- Defines -- */

/* -- Functions -- */

scheduler_t *scheduler_init(void)
{
    // Allocate memory for Scheduler structure
    scheduler_t *ces = (scheduler_t *) malloc(sizeof(scheduler_t));

    return ces;
}

void scheduler_destroy(scheduler_t *ces)
{
    // Free memory
    free(ces);
}

void scheduler_start(scheduler_t *ces)
{
    // Set timers
    timelib_timer_set(&ces->tv_started);
    timelib_timer_set(&ces->tv_cycle);
}

void scheduler_wait_for_timer(scheduler_t *ces)
{
    int sleep_time; // Sleep time in microseconds

    // Calculate time till end of the minor cycle
    sleep_time = (ces->minor * 1000) - (int)(timelib_timer_get(ces->tv_cycle) * 1000);

    // Add minor cycle period to timer
    timelib_timer_add_ms(&ces->tv_cycle, ces->minor);

    // Check for overrun and execute sleep only if there is no
    if(sleep_time > 0)
    {
        // Go to sleep (multipy with 1000 to get miliseconds)
        usleep(sleep_time);
    }
}

void scheduler_exec_task(scheduler_t *ces, int task_id)
{
    switch(task_id)
    {
    // Mission
    case s_TASK_MISSION_ID :
        task_mission();
        break;
    // Navigate
    case s_TASK_NAVIGATE_ID :
        task_navigate();
        break;
    // Control
    case s_TASK_CONTROL_ID :
        task_control();
        break;
    // Refine
    case s_TASK_REFINE_ID :
        task_refine();
        break;
    // Report
    case s_TASK_REPORT_ID :
        task_report();
        break;
    // Communicate
    case s_TASK_COMMUNICATE_ID :
        task_communicate();
        break;
    // Collision detection
    case s_TASK_AVOID_ID :
        task_avoid();
        break;
    // Other
    default :
        // Do nothing
        break;
    }
}

void scheduler_run(scheduler_t *ces)
{
    /* --- Local variables (define variables here) --- */

    /* --- Set minor cycle period --- */
    //ces->minor = ...;

    /* --- Write your code here --- */

}