Scheduler

libuavcan/include/uavcan/scheduler.hpp

@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/timer.hpp>
+#include <uavcan/internal/linked_list.hpp>
+#include <uavcan/internal/transport/dispatcher.hpp>
+
+namespace uavcan
+{
+
+class Scheduler : Noncopyable
+{
+    enum { DefaultTimerResolutionMs = 5 };
+    enum { DefaultCleanupPeriodMs = 1000 };
+
+    LinkedListRoot<TimerBase> ordered_timers_;  // Ordered by deadline, lowest first
+    Dispatcher dispatcher_;
+    uint64_t prev_cleanup_ts_;
+    uint64_t timer_resolution_;
+    uint64_t cleanup_period_;
+
+    uint64_t computeDispatcherSpinDeadline(uint64_t spin_deadline) const;
+    uint64_t pollTimersAndGetMonotonicTimestamp();
+    void pollCleanup(uint64_t mono_ts, uint32_t num_frames_processed_with_last_spin);
+
+public:
+    Scheduler(ICanDriver& can_driver, IAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr,
+             NodeID self_node_id)
+    : dispatcher_(can_driver, allocator, sysclock, otr, self_node_id)
+    , prev_cleanup_ts_(sysclock.getMonotonicMicroseconds())
+    , timer_resolution_(DefaultTimerResolutionMs * 1000)
+    , cleanup_period_(DefaultCleanupPeriodMs * 1000)
+    { }
+
+    int spin(uint64_t monotonic_deadline);
+
+    void registerOneShotTimer(TimerBase* timer);
+    void unregisterOneShotTimer(TimerBase* timer);
+    bool isOneShotTimerRegistered(const TimerBase* timer) const;
+    unsigned int getNumOneShotTimers() const { return ordered_timers_.getLength(); }
+
+    Dispatcher& getDispatcher() { return dispatcher_; }
+
+    ISystemClock& getSystemClock()         { return dispatcher_.getSystemClock(); }
+    uint64_t getMonotonicTimestamp() const { return dispatcher_.getSystemClock().getMonotonicMicroseconds(); }
+    uint64_t getUtcTimestamp()       const { return dispatcher_.getSystemClock().getUtcMicroseconds(); }
+
+    uint64_t getTimerResolution() const { return timer_resolution_; }
+    void setTimerResolution(uint64_t res_usec) { timer_resolution_ = res_usec; }
+
+    uint64_t getCleanupPeriod() const { return cleanup_period_; }
+    void setCleanupPeriod(uint64_t period_usec) { cleanup_period_ = period_usec; }
+};
+
+}