Scheduler API

Public Methods

/*************** Methods to Perform Actions on Processes ****************/
// NOTE: These can also be called directly on the Process object
// example process.add()

    /**
    * Add a new process to the scheduler chain
    * If it is already added, do nothing
    * This will trigger the Processes setup() method
    *
    * @return: True on success
    */
    bool add(Process &process, bool enableIfNot = false);


    /**
    * Disable a process
    * If it is not part of chain or already disabled, do nothing
    * This will trigger the Processes onDisable() method
    *
    * @return: True on success
    */
    bool disable(Process &process);


    /**
    * Enable a process
    * If it is not part of chain or already enabled, do nothing
    * This will trigger the Processes onEnable() method
    *
    * @return: True on success
    */
    bool enable(Process &process);


    /**
    * Remove a process from the scheduling chain
    * If it is not part of chain, do nothing
    * This will trigger the Processes cleanup() method
    * NOTE: If it is currently enabled, disable() will automatically be called first
    *
    * @return: True on success
    */
    bool destroy(Process &process);

    /**
    * Same as calling destroy(), add(), and enable() at once with less overhead
    * NOTE: You are restarting the Process, not resetting the settings that govern the operation
    * of the process (iterations, priority, period, etc...).
    *
    * The the initial set iterations, priority, period, etc... (set via constructor arguments) 
    * will not be reset to how they were when the process was created. If these have changed 
    * and you want to change them back, you will have to call the appropriate setters 
    * (ex: proc.setIterations(100);)
    *
    * @return: True on success
    */
    bool restart(Process &process);


    /**
    * Get the id of process
    *
    * @return: the unique id, otherwise 0 if not added to a scheduler
    */
    uint8_t getID(Process &process);


    /**
    * Determine if the process is currently enabled
    *
    * @return: bool
    */
    bool isEnabled(Process &process);


    /**
    * Determine if the scheduler is currently in the middle of servicing this process
    *
    * @return: bool
    */
    bool isRunningProcess(Process &process);


    /**
    * Determine if the process is currently destroyed (not part of the scheduler chain)
    *
    * @return: bool
    */
    bool isNotDestroyed(Process &process);

/*********************** End Processes Methods ********************/


    /**
    * Destroy all processes then put the processor into a low power sleep state
    *
    * @return: True on success
    */
    bool halt();


    /**
    * Get the currently running process
    *
    * @return: a pointer to the process, NULL on no process currently being run
    */
    static Process *getActive();

    /**
    * Get a pointer to the process with id
    *
    * @return: a pointer to the process, NULL on no process with that id
    */
    Process *findProcById(uint8_t id);

    /**
    * Get the number of processes in the scheduler chain at priority levels
    * If priority = ALL_PRIORITY_LEVELS, count at all priority levels
    * If enabledOnly = true, only the enabled processes will be counted
    *
    * @return: a pointer to the process, NULL on no process with that id
    */
    uint8_t countProcesses(int priority = ALL_PRIORITY_LEVELS, bool enabledOnly = true);

    /**
    * Get the internal timestamp the scheduler is using to track time
    * Either the same as millis() or micros() depending on _MICROS_PRECISION
    * @return: uint32_t
    */
    static uint32_t getCurrTS();

    /**
    * Run one pass through the scheduler, call this repeatedly in your void loop()
    *
    * @return: The number of processes serviced in that pass
    */
    int run();


// Enable this option in config.h to track time statistics on processes
#ifdef _PROCESS_STATISTICS
    /**
    * This will update the Process.getLoadPercent() method
    * It will estimate the % CPU time for all processes
    * NOTE: This will simply add this task to the scheduler job queue
    * The update will not happen until the scheduler gets a chance to process the request
    *
    * @return: True on success
    */
    bool updateStats();

#endif

// Enable this option to allow processes to raise and catch custom exceptions
// Behind the scenes this is using setjmp and longjmp
#ifdef _PROCESS_EXCEPTION_HANDLING
    /**
    * Raise Exception with code e inside a Process service routine
    * Execution will stop immediatley, and the processes handleException() will be called
    * NOTE: DO NOT CALL THIS FROM OUTSIDE A PROCESS SERVICE ROUTINE
    * @return: True on success
    */
    void raiseException(int e);
#endif