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A simple multi-core scheduler that provides a trait to the application. This trait, if implemented for an application specific object, can be used to get periodic calls from the scheduler. The application trait object has to be registered to the scheduler to get the periodic calls.
Task methods of the scheduler trait are optional to implement, if one or more methods is not needed for a particular application object.
To keep things simple, the scheduler has a couple of restrictions:
[dependencies]
timeslice = { version = "0.4", features = [ "hal-espidf", "meas" ] }
A simple usage example can look like this:
// Here we define the scheduler, its tasks and behavior.
timeslice::define_timeslice_sched! {
name: sched_main,
num_objs: 1,
tasks: {
{ name: task_10ms, period: 10 ms, cpu: 0, stack: 16 kiB },
{ name: task_50ms, period: 50 ms, cpu: 0, stack: 3 kiB },
{ name: task_100ms, period: 100 ms, cpu: 1, stack: 16 kiB },
}
}
// This structure belongs to your application. It contains application state.
struct MyThing {
// ...
}
impl MyThing {
fn new() -> Self {
Self {
// ...
}
}
}
// Implement the scheduler's tasks for your application.
impl sched_main::Ops for Box<MyThing> {
fn task_10ms(&self) {
// Called every 10 ms.
// ... Put your code here ...
}
fn task_50ms(&self) {
// Called every 50 ms.
// ... Put your code here ...
}
fn task_100ms(&self) {
// Called every 100 ms.
// ... Put your code here ...
}
}
fn main() {
// Initialize the application.
use std::sync::Arc;
let thing = Arc::new(Box::new(MyThing::new()));
// Initialize the scheduler and register your application.
let obj = Arc::clone(&thing);
sched_main::init([obj]);
// ...
}
See the documentation for more complex examples.
One backend has to be selected via feature
flags. The following backends are available:
hal-espidf
: Use esp-idf-hal
and esp-idf-svc
hal backend. Select this, if you use an ESP microcontroller.hal-dummy
: Backend for testing only. It does nothing. You should never select it.Only one of the hal backend feature
flags can be selected.
The hal-espidf
backend depends on the following crates:
esp-idf-hal = "0.44"
esp-idf-svc = "0.49"
meas
: If the meas
feature is enabled, then functions for run time measurements will be enabled.
If this feature flag is not given, then the run time measurement functions will be empty dummies.On hal-espidf
each task runs as a std::thread
that is pinned to the specified CPU core. The threads wait for a trigger signal from a periodic ESP timer. On triggering, the trait methods are executed, if the time slice is due.
This crate does not use unsafe
code.
Copyright 2023-2024 Michael Büsch m@bues.ch
Licensed under the Apache License version 2.0 or the MIT license, at your option.
SPDX-License-Identifier: Apache-2.0 OR MIT