- 同等地位的N个任务
- 每个任务有固定的执行间隔
-
典型的Arduino模式
setup-loop -
将loop进行中的任务进行拆分，设定调用时间周期
时间片- 适用于运行周期不同的任务，周期相对比较准确
- 任务不能阻塞
- 每次调用都是同一个入口，也就是说一次调用是全部完成返回的
- 执行任务从时间上分散后可以增加“实时任务”的及时性
分散任务
#ifndef TASK_H
#define TASK_H
typedef void (*P_VOID_void)();
class Task{
private:
int mPeri;
volatile int mTick;
P_VOID_void mProc;
public:
Task( P_VOID_void proc, int peri=10 )
{
mPeri = peri;
mTick = peri;
mProc = proc;
}
void run()
{
if ( mTick <= 0 )
{
mTick = mPeri;
mProc();
}
}
void tick()
{
if ( mTick > 0 )
{ mTick--; }
}
};
#define MAX_TASK_CNT 8
class Schedule
{
private:
Task * mTasks[MAX_TASK_CNT];
int mTaskCnt;
public:
Schedule()
{
mTaskCnt = 0;
}
void start()
{
TCCR1A = 0; // normal operation
TCCR1B = bit(WGM12) | bit(CS10) | bit(CS12); // CTC, 1024
OCR1A = 999; // compare A register value (1000 * clock speed)
TIMSK1 = bit (OCIE1A); // interrupt on Compare A Match
}
void run()
{
int i;
for ( i = 0; i < mTaskCnt; i++ )
{
mTasks[i]->run();
}
}
void tick()
{
int i;
for ( i = 0; i < mTaskCnt; i++ )
{
mTasks[i]->tick();
}
}
public:
void attachTask( Task *pTask )
{
mTasks[ mTaskCnt ] = pTask;
mTaskCnt++;
}
};
Schedule _schedule;
ISR(TIMER1_COMPA_vect)
{
_schedule.tick();
}
#endif
- 使用方法
#include <Task.h>
void task1()
{
Serial.println("task1 "+String( millis() ));
}
void task2()
{
Serial.println("task2 "+String( millis() ));
}
Task _task1( task1, 60 );
Task _task2( task2, 120 );
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
_schedule.attachTask( &_task1 );
_schedule.attachTask( &_task2 );
_schedule.start();
}
void loop() {
// put your main code here, to run repeatedly:
_schedule.run();
}
模块的添加方法
- /libraries/模块名称
- /libraries/模块名称/src中放置源码
- /libraries/模块名称/library.properties进行模块描述
