MotorControlModuleSDFM_TMS320F28388D/Projects/EFC_Application/UMLibrary/systemic/Scheduler.hpp

/*
 * Scheduler.hpp
 *
 *  Created on: 13 <EFBFBD><EFBFBD><EFBFBD>. 2019 <EFBFBD>.
 *      Author: titov
 */

#ifndef SOURCE_SYSTEMIC_SCHEDULER_HPP_
#define SOURCE_SYSTEMIC_SCHEDULER_HPP_

#include <utility>
#include <cstddef>
#include <stdexcept>
#include <memory_resource>

#include "IProcessor.hh"

#include "../common/Result.hh"
#include "../memories/allocator.hh"
#include "../memories/instance_object.hpp"

namespace systemic {

typedef typename std::pair<systemic::IProcess *, systemic::IProcessor::Priority> ProcessInfo;

template<unsigned tag_id>
struct Scheduler {

    static const unsigned tag = tag_id;

    typedef IProcessor::Priority Priority;
    typedef IProcessor::Period Period;
    typedef IProcessor::Phase Phase;
    typedef IProcessor::Controlled Controlled;

//    static Result< void, Error > runOnce();
    static void runOnce();
    static void setSampleTime( float ts_in_second );

protected:
    static ProcessInfo * table;
    static std::size_t size;
    static std::pmr::memory_resource * allocator;

    static void reqisterProcess( Priority priority, Period period, Phase phase, Controlled controlled, IProcess & proc );

    static float ts_in_second;
    static std::size_t proc_count;
};

template<typename Scheduler>
struct SchedulerInterface : public IProcessor, public Scheduler {

    typedef unsigned Tag;
    static const Tag tag = Scheduler::tag;

    std::size_t count_proc = 0;

    SchedulerInterface( ProcessInfo * table,
                        std::size_t size,
                        std::pmr::memory_resource * allocator = std::pmr::get_default_resource() );

    void reqisterProcess( Priority priority, Period period, Phase phase, Controlled controlled, IProcess & proc );

};

struct SparseProcess : public IProcess {

    const IProcessor::Period period;
    IProcessor::Period counter;
    IProcess & proc;

    SparseProcess( IProcessor::Period period, IProcess & proc );

    void process();

};

}

template<unsigned tag_id>
std::size_t systemic::Scheduler<tag_id>::proc_count = 0;

template<unsigned tag_id>
systemic::ProcessInfo * systemic::Scheduler<tag_id>::table = 0;

template<unsigned tag_id>
std::pmr::memory_resource * systemic::Scheduler<tag_id>::allocator = nullptr;

template<unsigned tag_id>
std::size_t systemic::Scheduler<tag_id>::size = 0;

template<unsigned tag_id>
float systemic::Scheduler<tag_id>::ts_in_second = 0.0f;

template<unsigned tag_id>
inline void systemic::Scheduler<tag_id>::reqisterProcess(
        Priority priority, Period period, Phase phase, Controlled controlled,
        IProcess & proc ) {

    if( proc_count < size ) {

        IProcess * proc_interface = &proc;

        if( allocator and period )
            proc_interface = ::memories::instance_object<SparseProcess>(*allocator, period, proc);

        table[proc_count] = std::make_pair( proc_interface, priority );

        for( std::size_t i = proc_count; i > 0; i-- )
             if( table[i-1].second > priority )
                 std::swap(table[i], table[i-1]);


        proc_count++;
        proc.setSampleTime( period ? period * ts_in_second : ts_in_second );

    }

}

template<unsigned tag_id>
//inline Result< void, Error > systemic::Scheduler<tag_id>::runOnce() {
inline void systemic::Scheduler<tag_id>::runOnce() {
// FIXME <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//    typedef Result< void, Error > Result;

    for( std::size_t j = 0; j < proc_count; ++j ) {

        systemic::IProcess * proc = table[j].first;

        if ( proc == nullptr ) continue;

        proc->process();

//#if __cplusplus >= 201103L
//        if ( status.isErr() ) {
//            table[j].first = nullptr;
//            return Result(std::move(status));
//        }
//#else
//        if ( status.isErr() ) {
//            table[j].first = nullptr;
//            return Result(status);
//        }
//#endif

    }

}

template<unsigned tag_id>
inline void systemic::Scheduler<tag_id>::setSampleTime( float sample_time ) {

    if( ts_in_second != sample_time ) {

        ts_in_second = sample_time;
        for( std::size_t j = 0; j < proc_count; ++j )
            table[j].first->setSampleTime( ts_in_second );

    }

}

template<typename Scheduler>
inline systemic::SchedulerInterface<Scheduler>::SchedulerInterface(
        ProcessInfo * table, std::size_t size, std::pmr::memory_resource * allocator ) {

    Scheduler::table = table;
    Scheduler::size = size;
    Scheduler::allocator = allocator;

}

template<typename Scheduler>
inline void systemic::SchedulerInterface<Scheduler>::reqisterProcess(
        Priority priority, Period period, Phase phase, Controlled controlled,
        IProcess & proc ) {

    count_proc++;

    Scheduler::reqisterProcess(priority, period, phase, controlled, proc);

}

inline systemic::SparseProcess::SparseProcess(IProcessor::Period period,
                                              IProcess & proc ) : proc(proc), period(period), counter(0) {}

inline void systemic::SparseProcess::process() {

    if( ++counter == period ) {
        counter = 0;
        proc.process();
    }

}

#endif /* SOURCE_SYSTEMIC_SCHEDULER_HPP_ */