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arduino-cli/libraries/TaskScheduler-master/examples/Scheduler_example12_Priority/Scheduler_example12_Priority.ino

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+/**
+ * This is a test of TaskScheduler layered priority funtionality
+ * 
+ * Current test employs three priority layers:
+ * Base scheduler runs tasks t1, t2 and t3
+ * High priority scheduler runs tasks t4 and t5
+ * Highest priority scheduler runs tasks t6 and t7
+ * 
+ * Sequence of task scheduling (not execution!) is:
+ * 6, 7, 4, 6, 7, 5, 1, 6, 7, 4, 6, 7, 5, 2, 6, 7, 4, 6, 7, 5, 3 = one base scheduler pass
+ * 
+ * Scheduling overhead (at 20 micros per one pass) is: (B + B * H + B * H * C) * T = (3 + 3 * 2 + 3 * 2 * 2) * 18 = 378 micros
+ * where
+ *  B - number of tasks in the base scheduler's chain
+ *  H - number of tasks in the high priority scheduler's chain
+ *  C - number of tasks in the critical priority scheduler's chain
+ *  T - scheduling overhead for 1 pass (~15-18 microseconds) 
+ *  
+ *  Actual task execution order:
+
+Scheduler Priority Test
+Task: 600:  0 Start delay = 0
+Task: 700:  10  Start delay = 10
+Task: 40: 21  Start delay = 21
+Task: 50: 31  Start delay = 31
+Task: 1:  43  Start delay = 41
+Task: 2:  53  Start delay = 53
+Task: 3:  63  Start delay = 63
+
+Task: 600:  500 Start delay = 0
+Task: 40: 510 Start delay = 10
+Task: 600:  1000  Start delay = 0
+Task: 700:  1010  Start delay = 10
+Task: 40: 1021  Start delay = 21
+Task: 50: 1032  Start delay = 32
+Task: 1:  1043  Start delay = 43
+Task: 600:  1500  Start delay = 0
+Task: 40: 1510  Start delay = 10
+Task: 600:  2000  Start delay = 0
+Task: 700:  2011  Start delay = 11
+Task: 40: 2022  Start delay = 22
+Task: 50: 2032  Start delay = 32
+Task: 1:  2043  Start delay = 43
+Task: 2:  2054  Start delay = 54
+Task: 600:  2500  Start delay = 0
+Task: 40: 2510  Start delay = 10
+Task: 600:  3000  Start delay = 0
+Task: 700:  3010  Start delay = 10
+Task: 40: 3021  Start delay = 21
+Task: 50: 3032  Start delay = 32
+Task: 1:  3043  Start delay = 43
+Task: 3:  3053  Start delay = 53
+
+Task: 600:  3500  Start delay = 0
+Task: 40: 3510  Start delay = 10
+Task: 600:  4000  Start delay = 0
+Task: 700:  4011  Start delay = 11
+Task: 40: 4022  Start delay = 22
+Task: 50: 4032  Start delay = 32
+Task: 1:  4043  Start delay = 43
+Task: 2:  4054  Start delay = 54
+Task: 600:  4500  Start delay = 0
+Task: 40: 4510  Start delay = 10
+Task: 600:  5000  Start delay = 0
+Task: 700:  5010  Start delay = 10
+Task: 40: 5021  Start delay = 21
+Task: 50: 5031  Start delay = 31
+Task: 1:  5043  Start delay = 43
+Task: 600:  5500  Start delay = 0
+Task: 40: 5511  Start delay = 11
+Task: 600:  6000  Start delay = 0
+Task: 700:  6010  Start delay = 10
+Task: 40: 6022  Start delay = 22
+Task: 50: 6032  Start delay = 32
+Task: 1:  6043  Start delay = 43
+Task: 2:  6053  Start delay = 53
+Task: 3:  6065  Start delay = 65
+
+ */
+ 
+#define _TASK_SLEEP_ON_IDLE_RUN
+#define _TASK_PRIORITY
+#define _TASK_WDT_IDS
+#define _TASK_TIMECRITICAL
+#include <TaskScheduler.h>
+
+Scheduler r;
+Scheduler hpr;
+Scheduler cpr;
+
+// 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
+
+Task t6(500, TASK_FOREVER, &tCallback, &cpr);  //adding task to the chain on creation
+Task t7(1000, TASK_FOREVER, &tCallback, &cpr);  //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);
+  
+  t6.setId(600);
+  t7.setId(700);
+
+  r.setHighPriorityScheduler(&hpr); 
+  hpr.setHighPriorityScheduler(&cpr); 
+  r.enableAll(true); // this will recursively enable the higher priority tasks as well
+}
+
+
+void loop () {
+  
+  r.execute();
+  
+}