setperiod.cpp

一个很棒的网络控制系统仿真软件

#ifndef SET_PERIOD
#define SET_PERIOD

#include "gettask.cpp"
#include "findQ.cpp"
#include "moveready.cpp"

// Setting period of a specific task
void ttSetPeriod(double newPeriod, char *nameOfTask) {
  
  TaskNode *tn;
  Task* task = getTask(nameOfTask);
  
  if (task == NULL) {
    char buf[200];
    sprintf(buf, "ttSetPeriod: Non-existent task '%s'!", nameOfTask);
    MEX_ERROR(buf);
    return;
  }
  
  if (task->perTimer == NULL) {
    char buf[200];
    sprintf(buf, "ttSetPeriod: Task '%s' not periodic!", nameOfTask);
    MEX_ERROR(buf);
    return;
  }

  double lastStart = task->perTimer->time - task->perTimer->period;
  double newTime = lastStart + newPeriod;
  task->perTimer->time = newTime;
  task->perTimer->period = newPeriod;

  // Update timerQ
  TimerNode* tin = (TimerNode*) rtsys->timerQ->getLast();
  while (tin->getTimer() != task->perTimer) {
    tin = (TimerNode*) tin->getPrev();
  }
  rtsys->timerQ->removeNode(tin);
  rtsys->timerQ->insertSorted(tin);

  // Reshuffle readyQ?
  tn = findInQ(nameOfTask, rtsys->readyQ);
  if (tn != NULL) {
    rtsys->readyQ->deleteNode(tn);
    moveToReadyQ(task);
  }
}

// Setting period of calling task
void ttSetPeriod(double newPeriod) {
  
  if(rtsys->executing == NULL) {
    MEX_ERROR("ttSetPeriod: No running task!");
    return;
  }

  ttSetPeriod(newPeriod, rtsys->executing->name);
}
#endif