comparison core/RTAudio.cpp @ 284:7bfb25a2e158 Doxy prerelease

Merge

 
 // Data structure to keep track of auxiliary tasks we
 // can schedule
 typedef struct {
 	RT_TASK task;
+	void (*argfunction)(void*);
 	void (*function)(void);
 	char *name;
 	int priority;
 	bool started;
+	bool hasArgs;
+	void* args;
+	bool autoSchedule;
 } InternalAuxiliaryTask;
 
 const char gRTAudioThreadName[] = "beaglert-audio";
 const char gRTAudioInterruptName[] = "beaglert-pru-irq";
 

 
 // Create a calculation loop which can run independently of the audio, at a different
 // (equal or lower) priority. Audio priority is defined in BEAGLERT_AUDIO_PRIORITY;
 // priority should be generally be less than this.
 // Returns an (opaque) pointer to the created task on success; 0 on failure
-AuxiliaryTask BeagleRT_createAuxiliaryTask(void (*functionToCall)(void), int priority, const char *name)
+AuxiliaryTask BeagleRT_createAuxiliaryTask(void (*functionToCall)(void* args), int priority, const char *name, void* args, bool autoSchedule)
 {
 	InternalAuxiliaryTask *newTask = (InternalAuxiliaryTask*)malloc(sizeof(InternalAuxiliaryTask));
 
 	// Attempt to create the task
 	if(rt_task_create(&(newTask->task), name, 0, priority, T_JOINABLE | T_FPU)) {

 		  free(newTask);
 		  return 0;
 	}
 
 	// Populate the rest of the data structure and store it in the vector
-	newTask->function = functionToCall;
+	newTask->argfunction = functionToCall;
 	newTask->name = strdup(name);
 	newTask->priority = priority;
 	newTask->started = false;
-
+	newTask->args = args;
+	newTask->hasArgs = true;
+    newTask->autoSchedule = autoSchedule;
+    
 	getAuxTasks().push_back(newTask);
 
 	return (AuxiliaryTask)newTask;
+}
+AuxiliaryTask BeagleRT_createAuxiliaryTask(void (*functionToCall)(void), int priority, const char *name, bool autoSchedule)
+{
+        InternalAuxiliaryTask *newTask = (InternalAuxiliaryTask*)malloc(sizeof(InternalAuxiliaryTask));
+        
+        // Attempt to create the task
+        if(rt_task_create(&(newTask->task), name, 0, priority, T_JOINABLE | T_FPU)) {
+                  cout << "Error: unable to create auxiliary task " << name << endl;
+                  free(newTask);
+                  return 0;
+        }
+        
+        // Populate the rest of the data structure and store it in the vector
+        newTask->function = functionToCall;
+        newTask->name = strdup(name);
+        newTask->priority = priority;
+        newTask->started = false;
+        newTask->hasArgs = false;
+        newTask->autoSchedule = autoSchedule;
+        
+        getAuxTasks().push_back(newTask);
+        
+        return (AuxiliaryTask)newTask;
 }
 
 // Schedule a previously created (and started) auxiliary task. It will run when the priority rules next
 // allow it to be scheduled.
 void BeagleRT_scheduleAuxiliaryTask(AuxiliaryTask task)

 		BeagleRT_startAuxiliaryTask(task); // is started (or ready to be resumed), but it probably is the fastest.
                                            // A safer approach would use rt_task_inquire()
 	}
 	rt_task_resume(&taskToSchedule->task);
 }
+void BeagleRT_autoScheduleAuxiliaryTasks(){
+    vector<InternalAuxiliaryTask*>::iterator it;
+	for(it = getAuxTasks().begin(); it != getAuxTasks().end(); it++) {
+	    if ((InternalAuxiliaryTask *)(*it)->autoSchedule){
+    		BeagleRT_scheduleAuxiliaryTask(*it);
+	    }
+	}
+}
 
 // Calculation loop that can be used for other tasks running at a lower
 // priority than the audio thread. Simple wrapper for Xenomai calls.
 // Treat the argument as containing the task structure
 void auxiliaryTaskLoop(void *taskStruct)
 {
+    InternalAuxiliaryTask *task = ((InternalAuxiliaryTask *)taskStruct);
+    
 	// Get function to call from the argument
-	void (*auxiliary_function)(void) = ((InternalAuxiliaryTask *)taskStruct)->function;
-	const char *name = ((InternalAuxiliaryTask *)taskStruct)->name;
+	void (*auxiliary_argfunction)(void* args) = task->argfunction;
+    void (*auxiliary_function)(void) = task->function;
+    
+    // get the task's name
+	const char *name = task->name;
 
 	// Wait for a notification
 	rt_task_suspend(NULL);
 
 	while(!gShouldStop) {
 		// Then run the calculations
-		auxiliary_function();
+		if (task->hasArgs)
+    	    auxiliary_argfunction(task->args);
+        else
+            auxiliary_function();
 
 		// Wait for a notification
 		rt_task_suspend(NULL);
 	}