# HG changeset patch
# User Liam Donovan <l.b.donovan@qmul.ac.uk>
# Date 1463397419 -3600
# Node ID abd3657016ea3dd54a2f024d0faa152e4037cea6
# Parent  33e0e4831763a5cee65a17edfe087299d42becfc# Parent  88cf310417cd787cc348231d78bad1c298e5f128
merged new aux tasks

diff -r 33e0e4831763 -r abd3657016ea core/PRU.cpp
--- a/core/PRU.cpp	Mon May 16 12:13:58 2016 +0100
+++ b/core/PRU.cpp	Mon May 16 12:16:59 2016 +0100
@@ -645,6 +645,8 @@
 			// Set the test pin high
 			xenomai_gpio[GPIO_CLEARDATAOUT] = TEST_PIN_MASK;
 		}
+		
+		BeagleRT_autoScheduleAuxiliaryTasks();
 
 		// FIXME: TESTING!!
 		// if(testCount > 100000)
diff -r 33e0e4831763 -r abd3657016ea core/RTAudio.cpp
--- a/core/RTAudio.cpp	Mon May 16 12:13:58 2016 +0100
+++ b/core/RTAudio.cpp	Mon May 16 12:16:59 2016 +0100
@@ -41,10 +41,14 @@
 // 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";
@@ -291,7 +295,7 @@
 // (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));
 
@@ -303,15 +307,41 @@
 	}
 
 	// 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.
@@ -324,22 +354,38 @@
 	}
 	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);
diff -r 33e0e4831763 -r abd3657016ea include/BeagleRT.h
--- a/include/BeagleRT.h	Mon May 16 12:13:58 2016 +0100
+++ b/include/BeagleRT.h	Mon May 16 12:16:59 2016 +0100
@@ -579,7 +579,8 @@
  * \param priority Xenomai priority level at which the task should run.
  * \param name Name for this task, which should be unique system-wide (no other running program should use this name).
  */
-AuxiliaryTask BeagleRT_createAuxiliaryTask(void (*functionToCall)(void), int priority, const char *name);
+AuxiliaryTask BeagleRT_createAuxiliaryTask(void (*functionToCall)(void*), int priority, const char *name, void* args, bool autoSchedule = false);
+AuxiliaryTask BeagleRT_createAuxiliaryTask(void (*functionToCall)(void), int priority, const char *name, bool autoSchedule = false);
 
 /**
  * \brief Start an auxiliary task so that it can be run.
@@ -608,6 +609,7 @@
  * \param task Task to schedule for running.
  */
 void BeagleRT_scheduleAuxiliaryTask(AuxiliaryTask task);
+void BeagleRT_autoScheduleAuxiliaryTasks();
 
 /** @} */
 #include <Utilities.h>