Improve ArduControl task scheduling

[r2c2.git] / source / libr2c2 / arducontrol.cpp

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 4acfc60e0e761a0c5aaa7d4c260a0023988a8034..40b3d35fd9f84693f233ad9490eb5013fa7bab57 100644 (file)
--- 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;