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libraries/TaskScheduler-master/examples/Scheduler_example08_LTS/Scheduler_example08_LTS.ino

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+/** 
+ *  TaskScheduler Test sketch - use of task's Local Task Storage pointer
+ *  Test case: 
+ *    Overall test runs for 5 seconds
+ *    A number of calculator tasks run every one second, and update their respective variables using Local Task Storage pointer
+ *    All calculator tasks use the same callback code, which obtains reference to appropriate variables via LTS pointer
+ *    Calculaotr tasks perform simple calculation (as an example):
+ *      adding task id number to itself
+ *      multiplying task id number by 10
+ *      
+ *  Upon completion of the overall test, all results are printed out.
+ *  Test could be repeated with various number of calculator tasks. 
+ *  All that needs to change is data definitions - code is completely agnostic of number of tasks
+ */
+ 
+#define _TASK_SLEEP_ON_IDLE_RUN  // Compile with support for entering IDLE SLEEP state for 1 ms if not tasks are scheduled to run
+#define _TASK_WDT_IDS           // Compile with support for Task IDs and Watchdog timer
+#define _TASK_LTS_POINTER       // Compile with support for Local Task Storage pointer
+#include <TaskScheduler.h>
+
+// Overall number of calculator tasks:
+#define NO_TASKS  3
+
+Scheduler ts;
+
+// Callback methods prototypes
+void Calculate(); bool CalcOn();
+bool WrapperOn(); void WrapperOff(); 
+
+// Tasks
+// Calculator tasks.
+// Note that all three tasks use the same callback methods
+// They will be updating specific variables based on the
+// Locat Task Storage pointers 
+Task t1(TASK_SECOND, TASK_FOREVER, &Calculate, &ts, false, &CalcOn); 
+Task t2(TASK_SECOND, TASK_FOREVER, &Calculate, &ts, false, &CalcOn); 
+Task t3(TASK_SECOND, TASK_FOREVER, &Calculate, &ts, false, &CalcOn);
+// add more calc tasks here if necessary
+
+Task tWrapper(5*TASK_SECOND, TASK_ONCE, NULL, &ts, false, &WrapperOn, &WrapperOff); 
+
+// The below structure is an object referenced by LTS pointer
+typedef struct {
+  unsigned int id;
+  long         sum;
+  long         product;
+} task_var;
+
+// These are actual structures which hold tasks specific values
+task_var v1;
+task_var v2; 
+task_var v3; 
+
+// Arrays below allow indexed access to specific tasks and tasks variables
+Task     *tasks[] = { &t1, &t2, &t3 };
+task_var *vars[]  = { &v1, &v2, &v3 };
+
+
+/**
+ * This method is called when a wrapper task is enabled
+ * The purpose is to supply LTS pointers to all the tasks
+ */
+bool WrapperOn() {
+
+  for (int i=0; i < NO_TASKS; i++) {
+    Task& T = *tasks[i];
+    T.setLtsPointer( vars[i] );
+    T.enableDelayed();
+  }
+  
+  return true;  // Signal that Task could be enabled
+}
+
+/**
+ * This method is called when Wrapper task is disabled (after first and only iteration is executed)
+ * For each of the calculor tasks the results are printed out. 
+ */
+void WrapperOff() {
+  Serial.println("Finished processing");
+  
+  ts.disableAll();
+  
+  for (int i=0; i < NO_TASKS; i++) {
+    Serial.print("ID: "); Serial.println(vars[i]->id);
+    Serial.print("Sum: "); Serial.println(vars[i]->sum);
+    Serial.print("Product: "); Serial.println(vars[i]->product);
+    Serial.println();
+  }
+}
+
+
+/**
+ * This method is executed when each calculator task is enabled
+ * The purpose is to initiate all local variables
+ */
+bool CalcOn() {
+  Task& T = ts.currentTask();
+  task_var& var = *((task_var*) T.getLtsPointer());
+  
+// Initialize local variables
+  var.id = T.getId();
+  var.sum = 0;
+  var.product = var.id;  
+  
+  return true;
+}
+
+
+/**
+ * This method performs simple calculations on task's local variables
+ */
+void Calculate() {
+  Task& T = ts.currentTask();
+// Another way to get to LTS pointer:  
+  task_var& var = *((task_var*) ts.currentLts());
+
+
+  Serial.print("Calculating for task: ");
+  Serial.print(T.getId());
+  Serial.print("; Task id per LTS is: ");
+  Serial.println( var.id );
+  
+  var.sum += T.getId();
+  var.product = var.product * 10;
+  
+}
+
+
+/**
+ * Standard Arduino setup and loop methods
+ */
+void setup() {
+  Serial.begin(115200);
+
+  randomSeed(analogRead(0)+analogRead(5));
+  
+  pinMode(13, OUTPUT);
+  digitalWrite(13, LOW); 
+ 
+  Serial.println("Local Task Storage pointer test");
+
+  tWrapper.enableDelayed();
+}
+
+void loop() {
+  ts.execute();
+}