Improve ArduControl task scheduling

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

diff --git a/source/libr2c2/arducontrol.h b/source/libr2c2/arducontrol.h
index 01ee2814c6f2bff1f3e52ad11b67070a97e85900..c170e4203c9c2eb3de864de49d958a0a10b6e794 100644 (file)
--- a/source/libr2c2/arducontrol.h
+++ b/source/libr2c2/arducontrol.h
@@ -173,12 +173,13 @@ private:
                Kind kind;
                unsigned address;
                unsigned bits;
+               unsigned valid_states;
                ControlledVariable<unsigned> state;
                unsigned uncertain;
                unsigned target;
                Msp::Time::TimeDelta active_time;
 
-               Accessory(Kind, unsigned, unsigned);
+               Accessory(Kind, unsigned, unsigned, unsigned);
 
                unsigned create_state_command(unsigned, bool, char *) const;
        };
@@ -225,12 +226,23 @@ private:
        class Task
        {
        protected:
-               Task() { }
+               std::string name;
+               unsigned priority;
+               Msp::Time::TimeStamp sleep_timeout;
+
+               Task(const std::string &, unsigned = 0);
        public:
                virtual ~Task() { }
 
+               const std::string &get_name() const { return name; }
+
                virtual bool get_work(PendingCommand &) = 0;
                virtual void process_reply(const char *, unsigned) { }
+
+               unsigned get_priority() const { return priority; }
+               const Msp::Time::TimeStamp &get_sleep_timeout() const { return sleep_timeout; }
+       protected:
+               void sleep(const Msp::Time::TimeDelta &);
        };
 
        class CommandQueueTask: public Task
@@ -239,7 +251,12 @@ private:
                Queue<PendingCommand> queue;
 
        public:
+               CommandQueueTask();
+
                virtual bool get_work(PendingCommand &);
+
+               void push(const PendingCommand &);
+               bool empty() const { return queue.empty(); }
        };
 
        class RefreshTask: public Task
@@ -272,7 +289,6 @@ private:
                ArduControl &control;
                unsigned n_octets;
                unsigned octets_remaining;
-               unsigned delay;
 
        public:
                S88Task(ArduControl &);
@@ -288,7 +304,6 @@ private:
        {
        private:
                unsigned serial;
-               Msp::Time::TimeStamp next;
 
        public:
                MfxAnnounceTask();
@@ -304,7 +319,6 @@ private:
        private:
                ArduControl &control;
                unsigned next_address;
-               Msp::Time::TimeStamp next;
                unsigned size;
                unsigned bits;
                unsigned misses;
@@ -327,7 +341,6 @@ private:
                float current;
                float base_level;
                float peak_level;
-               Msp::Time::TimeStamp next_poll;
                unsigned next_type;
 
        public:
@@ -357,8 +370,9 @@ private:
                virtual void main();
                void init_baud_rate();
                bool get_work(PendingCommand &);
-               unsigned do_command(const PendingCommand &);
+               unsigned do_command(const PendingCommand &, const Msp::Time::TimeDelta &);
                unsigned process_reply(const char *, unsigned);
+               void set_power(bool);
        };
 
        typedef std::map<unsigned, Locomotive> LocomotiveMap;
@@ -384,7 +398,8 @@ private:
 
        SensorMap sensors;
 
-       Queue<PendingCommand> command_queue;
+       Msp::Time::TimeDelta command_timeout;
+       CommandQueueTask command_queue;
        Queue<Tag> completed_commands;
        RefreshTask refresh;
        S88Task s88;
@@ -431,10 +446,11 @@ public:
        virtual unsigned get_signal(unsigned) const;
 
 private:
-       unsigned add_accessory(Accessory::Kind, unsigned, unsigned);
+       unsigned add_accessory(Accessory::Kind, unsigned, unsigned, unsigned);
        void remove_accessory(Accessory::Kind, unsigned);
        void set_accessory(Accessory::Kind, unsigned, unsigned);
        unsigned get_accessory(Accessory::Kind, unsigned) const;
+       void activate_accessory_by_mask(Accessory &, unsigned);
 
 public:
        virtual unsigned add_sensor(unsigned);