X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=source%2Flibr2c2%2Farducontrol.cpp;fp=source%2Flibr2c2%2Farducontrol.cpp;h=40b3d35fd9f84693f233ad9490eb5013fa7bab57;hb=23e1a988da2efae47e39d93babe7e37b1c0ca554;hp=4acfc60e0e761a0c5aaa7d4c260a0023988a8034;hpb=aa48746158b19ad795a3cc656c4dfe17044baf54;p=r2c2.git

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 4acfc60..40b3d35 100644
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -713,7 +713,24 @@ void ArduControl::CommandQueueTask::push(const PendingCommand &cmd)
 }
 
 
+ArduControl::Task::Task(const string &n, unsigned p):
+	name(n),
+	priority(p)
+{ }
+
+void ArduControl::Task::sleep(const Time::TimeDelta &dt)
+{
+	sleep_timeout = Time::now()+dt;
+}
+
+
+ArduControl::CommandQueueTask::CommandQueueTask():
+	Task("CommandQueue")
+{ }
+
+
 ArduControl::RefreshTask::RefreshTask():
+	Task("Refresh", 2),
 	next(cycle.end()),
 	round(0),
 	loco(0),
@@ -807,19 +824,14 @@ void ArduControl::RefreshTask::advance()
 
 
 ArduControl::S88Task::S88Task(ArduControl &c):
+	Task("S88"),
 	control(c),
 	n_octets(0),
-	octets_remaining(0),
-	delay(0)
+	octets_remaining(0)
 { }
 
 bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 {
-	if(delay)
-	{
-		--delay;
-		return false;
-	}
 	if(octets_remaining || !n_octets)
 		return false;
 
@@ -828,7 +840,7 @@ bool ArduControl::S88Task::get_work(PendingCommand &cmd)
 	cmd.command[1] = octets_remaining;
 	cmd.length = 2;
 
-	delay = 4;
+	sleep(100*Time::msec);
 
 	return true;
 }
@@ -877,20 +889,18 @@ void ArduControl::S88Task::grow_n_octets(unsigned n)
 
 
 ArduControl::MfxAnnounceTask::MfxAnnounceTask():
+	Task("MfxAnnounce", 1),
 	serial(0)
 { }
 
 bool ArduControl::MfxAnnounceTask::get_work(PendingCommand &cmd)
 {
-	Time::TimeStamp t = Time::now();
-	if(t<next)
-		return false;
-
 	cmd.command[0] = MFX_ANNOUNCE;
 	cmd.command[1] = serial>>8;
 	cmd.command[2] = serial;
 	cmd.length = 3;
-	next = t+400*Time::msec;
+
+	sleep(400*Time::msec);
 
 	return true;
 }
@@ -902,6 +912,7 @@ void ArduControl::MfxAnnounceTask::set_serial(unsigned s)
 
 
 ArduControl::MfxSearchTask::MfxSearchTask(ArduControl &c):
+	Task("MfxSearch", 1),
 	control(c),
 	next_address(1),
 	size(0),
@@ -941,17 +952,13 @@ bool ArduControl::MfxSearchTask::get_work(PendingCommand &cmd)
 		return true;
 	}
 
-	Time::TimeStamp t = Time::now();
-	if(t<next)
-		return false;
-
 	cmd.command[0] = MFX_SEARCH;
 	for(unsigned i=0; i<4; ++i)
 		cmd.command[1+i] = bits>>(24-i*8);
 	cmd.command[5] = size;
 	cmd.length = 6;
 
-	next = t+200*Time::msec;
+	sleep(200*Time::msec);
 
 	if(control.debug>=1)
 		IO::print("Search %08X/%d\n", bits, size);
@@ -976,7 +983,7 @@ void ArduControl::MfxSearchTask::process_reply(const char *reply, unsigned lengt
 		}
 		else
 		{
-			next = Time::now()+2*Time::sec;
+			sleep(2*Time::sec);
 			bits = 0;
 			size = 0;
 			misses = 0;
@@ -996,6 +1003,7 @@ bool ArduControl::MfxSearchTask::pop_info(MfxInfo &info)
 
 
 ArduControl::MonitorTask::MonitorTask():
+	Task("Monitor"),
 	voltage(0),
 	current(0),
 	base_level(0),
@@ -1005,17 +1013,13 @@ ArduControl::MonitorTask::MonitorTask():
 
 bool ArduControl::MonitorTask::get_work(PendingCommand &cmd)
 {
-	Time::TimeStamp t = Time::now();
-	if(t<next_poll)
-		return false;
-
 	if(next_type==0)
 		cmd.command[0] = READ_INPUT_VOLTAGE;
 	else
 		cmd.command[0] = READ_TRACK_CURRENT;
 	cmd.length = 1;
 
-	next_poll = t+200*Time::msec;
+	sleep(200*Time::msec);
 	next_type = (next_type+1)%5;
 
 	return true;
@@ -1168,9 +1172,33 @@ void ArduControl::ControlThread::init_baud_rate()
 
 bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
 {
-	for(vector<Task *>::iterator i=tasks.begin(); i!=tasks.end(); ++i)
-		if((*i)->get_work(cmd))
+	Time::TimeStamp t = Time::now();
+
+	unsigned count = 0;
+	for(; (count<tasks.size() && tasks[count]->get_sleep_timeout()<=t); ++count) ;
+
+	for(; count>0; --count)
+	{
+		unsigned i = 0;
+		for(unsigned j=1; j<count; ++j)
+			if(tasks[j]->get_priority()<tasks[i]->get_priority())
+				i = j;
+
+		Task *task = tasks[i];
+		bool result = task->get_work(cmd);
+
+		Time::TimeStamp st = max(task->get_sleep_timeout(), t);
+		for(; (i+1<tasks.size() && tasks[i+1]->get_sleep_timeout()<=st); ++i)
+			tasks[i] = tasks[i+1];
+		tasks[i] = task;
+
+		if(result)
+		{
+			if(control.debug>=2)
+				IO::print("Scheduled task %s\n", task->get_name());
 			return true;
+		}
+	}
 
 	// As fallback, send an idle packet for the MM protocol
 	cmd.command[0] = MOTOROLA_SPEED;