Simple, table-based scheduler for flight software. More...

#include <TableScheduler.hpp>

Inheritance diagram for warpos::TableScheduler< N >:

[legend]

Public Member Functions
	TableScheduler (OS &os)
	Constructor for the scheduler.
	~TableScheduler ()
virtual int16	startup () override
	Start the table scheduler.
virtual int16	step (const clockwerk::Time &step_val) override
	Function to execute a single table schedule slot.
virtual int16	run () override
	Function to run the scheduler until pre-determined end conditions identified/calculated by the scheduler.
virtual int16	registerApp (App &app, int16 slot) override
	Register an app with the table scheduler.
virtual int16	unregisterApp (int16 slot) override
	Function to unregister a certain schedule slot.
uint8	taskFailures ()
	Get number of task failures.
uint16	currentSlot ()
	Get the current schedule slot (executed previous step).
uint8	scheduleExceedances ()
	Get the number of schedule exceedances.
const tlm_executive_schedule_overrun &	lastExceedance ()
	Return the last task to exceed its slot.
const tlm_executive_app_error &	lastTaskFailure ()
	Get handle to record of last failure.
const clockwerk::Time &	timePerSlot ()
	Get the time per slot.
const App *	lastAppRun ()
	Get handle to the last app run.
Public Member Functions inherited from warpos::Scheduler
	Scheduler ()
	Constructor for the scheduler.
void	terminate ()
	Terminate the scheduler.
bool	isTerminated ()
	Get whether scheduler is terminated.
void	setExecutive (FlightExecutive *exc)
	Set the flight executive for the scheduler.
Public Member Functions inherited from clockwerk::GraphTreeObject
	GraphTreeObject (const char gt_nme="", GraphTreeObject *storage_array=nullptr, uint32 storage_size=0)
	Name-based constructor for GraphTreeObject which will have no children by default.
virtual	~GraphTreeObject ()
	Destructor.
GraphTreeObject *	parent ()
	Functions to get object's parent/children.
GraphTreeObject **	children ()
GraphTreeObject *	childAtIndex (uint8 i) const
int16	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer.
int16	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference.
uint8	nChildren () const
	Getters for number of children and descendants.
uint16	nDescendants () const
uint8	capacity () const
const char *	name () const
	Getter and setter for object name.
int16	name (const char *new_name)
uint8	rank ()
	Getter for the object rank.
int8	type ()
	Function to indicate type – -1 by default unless implemented downstream.
bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition.
GraphTreeObject *	getRootDataPointer ()
	Get the pointer to the highest object in the graph tree.
virtual int16	str (char *output, size_t size) const
	Get object represented as string.
virtual int16	fromStr (const char *val)
	Set value of graphtreeobject from string.

Protected Member Functions
uint16	_getNextSlot (uint16 current_slot)
	Return schedule slot after current one.
Protected Member Functions inherited from clockwerk::GraphTreeObject
int16	_setStorage (GraphTreeObject **storage_array, uint8 storage_size)
	Getter for object's string address.
void	_recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree.
void	_recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree.
int16	_addChild (GraphTreeObject *child)
	Function to decompose a string into a series of substrings via indexing.
int16	_removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children.

Protected Attributes
OS &	_os
	Handle to the os from which we pull system time.
App *	_schedule_array [N]
	Array to hold the actual schedule slot.
bool	_scheduler_initialized = false
	Flag indicating whether time has been initialized.
int16	_current_slot = 0
	The current schedule slot to execute.
int16	_end_slot = 0
	The slot where schedule run ended.
uint32	_nsec_per_slot = clockwerk::NSEC_PER_SEC_I/N
	The number of nsec allocated per slot.
clockwerk::Time	_step_size
	The step size as a clockwerk time.
int16	_error = 0
	Variable to catch errors out of runs.
char	_print_buf [200]
tlm_executive_app_error	_tlm_error
tlm_executive_schedule_overrun	_tlm_overrun
Protected Attributes inherited from warpos::Scheduler
bool	_is_terminated = false
	Flag to indicate whether the scheduler is terminated.
FlightExecutive *	_exc_ptr
	Pointer to the executive which may optionally be registered with scheduler.
Protected Attributes inherited from clockwerk::GraphTreeObject
GraphTreeObject *	_parent = nullptr
GraphTreeObject **	_children_ptr = nullptr
uint32	_max_num_children = 0
uint16	_num_descendants = 0
char	_name [MAXIMUM_NAME_CHARS] = ""
	String name for object.
uint8	_num_children = 0
	Number of direct children of the tree (not including the tree itself).
uint8	_rank = 0
int8	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type.
bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default.
uint32	_index = 0
	Index pointing to the next write location for the graph tree children.

Detailed Description

template<int16 N>
class warpos::TableScheduler< N >

Simple, table-based scheduler for flight software.

The TableScheduler is an ultra simple, table-based scheduler instance for running tasks in soft real time on embedded systems. It is templated to have N schedule slots, which are distributed among steps of 1 second.

To add a task to the schedule, call scheduleTask with the task or app and the desired schedule slot. By default tasks are scheduled to take exactly one slot. However, a task may be programmed to take more than one schedule slot by programming it sequentially (in back to back slots).

The TableScheduler is fixed to full second boundaries in the system time, and will return warning until it is allowed to start on a full second boundary. Afterwards, timing is based on the partial seconds in the full second.

Inside of TableScheduler run, the scheduler is designed to call os yield between steps to allow lower priority tasks outside the table scheduler to run.

Constructor & Destructor Documentation

◆ TableScheduler()

template<int16 N>

warpos::TableScheduler< N >::TableScheduler ( OS & os )

Constructor for the scheduler.

Parameters

os	Reference to the OS object

◆ ~TableScheduler()

template<int16 N>

warpos::TableScheduler< N >::~TableScheduler ( )

inline

Member Function Documentation

◆ _getNextSlot()

template<int16 N>

uint16 warpos::TableScheduler< N >::_getNextSlot ( uint16 current_slot )

protected

Return schedule slot after current one.

Parameters

current_slot The current slot

Returns: The int indicating the next slot

◆ currentSlot()

template<int16 N>

uint16 warpos::TableScheduler< N >::currentSlot ( )

inline

Get the current schedule slot (executed previous step).

Returns: The current slot

◆ lastAppRun()

template<int16 N>

const App * warpos::TableScheduler< N >::lastAppRun ( )

inline

Get handle to the last app run.

Returns: The last app run by the scheduler

◆ lastExceedance()

template<int16 N>

const tlm_executive_schedule_overrun & warpos::TableScheduler< N >::lastExceedance ( )

inline

Return the last task to exceed its slot.

Returns: Last task to exceed its slot

◆ lastTaskFailure()

template<int16 N>

const tlm_executive_app_error & warpos::TableScheduler< N >::lastTaskFailure ( )

inline

Get handle to record of last failure.

Returns: Handle to last failure

◆ registerApp()

template<int16 N>

int16 warpos::TableScheduler< N >::registerApp	(	App &	app,
		int16	slot )

overridevirtual

Register an app with the table scheduler.

Parameters

app	The app to register
schedule_slot	The slot to register the app to

Returns: Error code corresponding to success/failure

Reimplemented from warpos::Scheduler.

◆ run()

template<int16 N>

int16 warpos::TableScheduler< N >::run ( )

overridevirtual

Function to run the scheduler until pre-determined end conditions identified/calculated by the scheduler.

Returns: Error code corresponding to success/failure

Note: The scheduler MUST define stopping conditions. Otherwise, will run indefinitely

Reimplemented from warpos::Scheduler.

◆ scheduleExceedances()

template<int16 N>

uint8 warpos::TableScheduler< N >::scheduleExceedances ( )

inline

Get the number of schedule exceedances.

Returns: The number of exceedances

◆ startup()

template<int16 N>

int16 warpos::TableScheduler< N >::startup ( )

overridevirtual

Start the table scheduler.

Returns: Error code corresponding to success/failure

Reimplemented from warpos::Scheduler.

◆ step()

template<int16 N>

int16 warpos::TableScheduler< N >::step ( const clockwerk::Time & step_val )

overridevirtual

Function to execute a single table schedule slot.

Parameters

ref_time The current time, which is used to determine the slot which runs

Returns: Error code corresponding to success/failure

Reimplemented from warpos::Scheduler.

◆ taskFailures()

template<int16 N>

uint8 warpos::TableScheduler< N >::taskFailures ( )

inline

Get number of task failures.

Returns: Number of task failures

◆ timePerSlot()

template<int16 N>

const clockwerk::Time & warpos::TableScheduler< N >::timePerSlot ( )

inline

Get the time per slot.

Returns: Time per slot as clockwerk::Time

◆ unregisterApp()

template<int16 N>

int16 warpos::TableScheduler< N >::unregisterApp ( int16 slot )

overridevirtual

Function to unregister a certain schedule slot.

Parameters

slot	Slot to unregister

Returns: Error code corresponding to success/failure

◆ _tlm_overrun

template<int16 N>

tlm_executive_schedule_overrun warpos::TableScheduler< N >::_tlm_overrun

protected

The documentation for this class was generated from the following file:

/Users/mickey/Documents/Projects/warptwin/warpos/src/schedules/TableScheduler.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TableScheduler()

◆ ~TableScheduler()

Member Function Documentation

◆ _getNextSlot()

◆ currentSlot()

◆ lastAppRun()

◆ lastExceedance()

◆ lastTaskFailure()

◆ registerApp()

◆ run()

◆ scheduleExceedances()

◆ startup()

◆ step()

◆ taskFailures()

◆ timePerSlot()

◆ unregisterApp()

Member Data Documentation

◆ _current_slot

◆ _end_slot

◆ _error

◆ _nsec_per_slot

◆ _os

◆ _print_buf

◆ _schedule_array

◆ _scheduler_initialized

◆ _step_size

◆ _tlm_error

◆ _tlm_overrun