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arduino-cli/libraries/TaskScheduler-master/examples/Scheduler_example11_Priority/Scheduler_example11_Priority.ino

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+/**
+ * This is a test of TaskScheduler layered priority funtionality
+ * 
+ * Current test employs two priority layers:
+ * Base scheduler runs tasks t1, t2 and t3
+ * High priority scheduler runs tasks t4 and t5
+ * 
+ * Sequence of task scheduling (not execution!) is:
+ * 4, 5, 1, 4, 5, 2, 4, 5, 3 = one base scheduler pass
+ * 
+ * Scheduling overhead (at 20 micros per one pass) is: (B + B * H) * T = (3 + 3 * 2) * 18 = 162 micros
+ * where
+ *  B - number of tasks in the base scheduler's chain
+ *  H - number of tasks in the high priority scheduler's chain
+ *  T - scheduling overhead for 1 pass (~15-18 microseconds) 
+ *  
+ *  Actual task execution order:
+
+Scheduler Priority Test
+Task: 40:  0 Start delay = 0
+Task: 50: 10  Start delay = 10
+Task: 1:  21  Start delay = 21
+Task: 2:  31  Start delay = 31
+Task: 3:  41  Start delay = 41
+
+Task: 40: 500 Start delay = 0
+Task: 40: 1000  Start delay = 0
+Task: 50: 1010  Start delay = 10
+Task: 1:  1021  Start delay = 20
+Task: 40: 1500  Start delay = 0
+Task: 40: 2000  Start delay = 0
+Task: 50: 2011  Start delay = 11
+Task: 1:  2022  Start delay = 21
+Task: 2:  2032  Start delay = 32
+Task: 40: 2500  Start delay = 0
+Task: 40: 3000  Start delay = 0
+Task: 50: 3010  Start delay = 10
+Task: 1:  3021  Start delay = 20
+Task: 3:  3032  Start delay = 32
+
+Task: 40: 3500  Start delay = 0
+Task: 40: 4000  Start delay = 0
+Task: 50: 4011  Start delay = 11
+Task: 1:  4022  Start delay = 21
+Task: 2:  4032  Start delay = 32
+Task: 40: 4500  Start delay = 0
+Task: 40: 5000  Start delay = 0
+Task: 50: 5010  Start delay = 10
+Task: 1:  5021  Start delay = 20
+Task: 40: 5500  Start delay = 0
+Task: 40: 6000  Start delay = 0
+Task: 50: 6010  Start delay = 10
+Task: 1:  6022  Start delay = 21
+Task: 2:  6032  Start delay = 32
+Task: 3:  6043  Start delay = 42
+
+ */
+ 
+#define _TASK_SLEEP_ON_IDLE_RUN
+#define _TASK_PRIORITY
+#define _TASK_WDT_IDS
+#define _TASK_TIMECRITICAL
+#include <TaskScheduler.h>
+
+Scheduler r, hpr;
+
+// Callback methods prototypes
+void tCallback();
+
+// Tasks
+Task t1(1000, TASK_FOREVER, &tCallback, &r);  //adding task to the chain on creation
+Task t2(2000, TASK_FOREVER, &tCallback, &r);
+Task t3(3000, TASK_FOREVER, &tCallback, &r);
+
+Task t4(500, TASK_FOREVER, &tCallback, &hpr);  //adding task to the chain on creation
+Task t5(1000, TASK_FOREVER, &tCallback, &hpr);  //adding task to the chain on creation
+
+void tCallback() {
+  Scheduler &s = Scheduler::currentScheduler();
+  Task &t = s.currentTask();
+  
+  Serial.print("Task: "); Serial.print(t.getId());Serial.print(":\t");
+  Serial.print(millis()); Serial.print("\tStart delay = "); Serial.println(t.getStartDelay());
+  delay(10);
+
+  if (t.getId() == 3) Serial.println();
+}
+
+void setup () {
+  Serial.begin(115200);
+  Serial.println("Scheduler Priority Test");
+
+  t4.setId(40);
+  t5.setId(50);
+
+  r.setHighPriorityScheduler(&hpr); 
+  r.enableAll(true); // this will recursively enable the higher priority tasks as well
+}
+
+
+void loop () {
+  
+  r.execute();
+  
+}