The Big Refactoring of 2019: scheduler should not be global #655

firmware/controllers/algo/engine.h

@@ -2,7 +2,7 @@
  * @file	engine.h
  *
  * @date May 21, 2014
- * @author Andrey Belomutskiy, (c) 2012-2017
+ * @author Andrey Belomutskiy, (c) 2012-2019
  */
 #ifndef H_ENGINE_H_
 #define H_ENGINE_H_
@@ -19,6 +19,16 @@
 #include "accel_enrichment.h"
 #include "trigger_central.h"
 
+#if EFI_SIGNAL_EXECUTOR_ONE_TIMER
+// PROD real firmware uses this implementation
+#include "SingleTimerExecutor.h"
+#endif /* EFI_SIGNAL_EXECUTOR_ONE_TIMER */
+#if EFI_SIGNAL_EXECUTOR_SLEEP
+#endif /* EFI_SIGNAL_EXECUTOR_SLEEP */
+#if EFI_UNIT_TEST
+#include "global_execution_queue.h"
+#endif /* EFI_UNIT_TEST */
+
 #define MOCK_ADC_SIZE 16
 
 class MockAdcState {
@@ -316,6 +326,16 @@ public:
 	InjectionSignalPair fuelActuators[INJECTION_PIN_COUNT];
 	IgnitionEventList ignitionEvents;
 
+	// a pointer with interface type would make this code nicer but would carry extra runtime
+	// cost to resolve pointer, we use instances as a micro optimization
+#if EFI_SIGNAL_EXECUTOR_ONE_TIMER
+	Executor executor;
+#endif
+#if EFI_SIGNAL_EXECUTOR_SLEEP
+#endif
+#if EFI_UNIT_TEST
+	TestExecutor executor;
+#endif
 
 #if EFI_ENGINE_CONTROL || defined(__DOXYGEN__)
 	FuelSchedule injectionEvents;

firmware/controllers/system/SingleTimerExecutor.h

@@ -11,7 +11,7 @@
 #include "scheduler.h"
 #include "event_queue.h"
 
-class Executor {
+class Executor : public ExecutorInterface {
 public:
 	Executor();
 	void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param);

firmware/controllers/system/scheduler.h

@@ -29,7 +29,13 @@ public:
 /**
  * see also scheduleByAngle
  */
+// Deprecated see https://github.com/rusefi/rusefi/issues/655
 void scheduleForLater(scheduling_s *scheduling, int delayUs, schfunc_t callback, void *param);
+// Deprecated see https://github.com/rusefi/rusefi/issues/655
 void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t time, schfunc_t callback, void *param);
 
+class ExecutorInterface {
+	virtual void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param) = 0;
+};
+
 #endif /* SCHEDULER_H_ */

firmware/controllers/system/signal_executor_sleep.cpp

@@ -34,8 +34,12 @@
 
 #if EFI_SIGNAL_EXECUTOR_SLEEP || defined(__DOXYGEN__)
 
-void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t time, schfunc_t callback, void *param) {
-	scheduleForLater(scheduling, time - getTimeNowUs(), callback, param);
+void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param) {
+	scheduleForLater(scheduling, timeUs - getTimeNowUs(), callback, param);
+}
+
+void SleepExecutor::scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param) {
+	scheduleForLater(scheduling, timeUs - getTimeNowUs(), callback, param);
 }
 
 static void timerCallback(scheduling_s *scheduling) {

firmware/controllers/system/signal_executor_sleep.h

@@ -8,4 +8,11 @@
 #ifndef SIGNAL_EXECUTOR_SLEEP_H_
 #define SIGNAL_EXECUTOR_SLEEP_H_
 
+#include "scheduler.h"
+
+class SleepExecutor : public ExecutorInterface {
+public:
+	void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param);
+};
+
 #endif /* SIGNAL_EXECUTOR_SLEEP_H_ */

firmware/controllers/trigger/main_trigger_callback.cpp

@@ -198,7 +198,7 @@ void seTurnPinLow(InjectionSignalPair *pair) {
 	ENGINE(injectionEvents.addFuelEventsForCylinder(pair->event->ownIndex PASS_ENGINE_PARAMETER_SUFFIX));
 }
 
-static void sescheduleByTimestamp(scheduling_s *scheduling, efitimeus_t time, schfunc_t callback, InjectionSignalPair *pair) {
+static void sescheduleByTimestamp(scheduling_s *scheduling, efitimeus_t time, schfunc_t callback, InjectionSignalPair *pair DECLARE_ENGINE_PARAMETER_SUFFIX) {
 #if FUEL_MATH_EXTREME_LOGGING || defined(__DOXYGEN__)
 	InjectorOutputPin *param = pair->outputs[0];
 //	scheduleMsg(&sharedLogger, "schX %s %x %d", prefix, scheduling,	time);
@@ -341,10 +341,10 @@ static ALWAYS_INLINE void handleFuelInjectionEvent(int injEventIndex, InjectionE
 		printf("please cancel %s %d %d\r\n", output->name, (int)getTimeNowUs(), output->overlappingCounter);
 	#endif /* EFI_UNIT_TEST || EFI_SIMULATOR */
 		} else {
-			sescheduleByTimestamp(sUp, turnOnTime, (schfunc_t) &seTurnPinHigh, pair);
+			sescheduleByTimestamp(sUp, turnOnTime, (schfunc_t) &seTurnPinHigh, pair PASS_ENGINE_PARAMETER_SUFFIX);
 		}
 		efitimeus_t turnOffTime = nowUs + (int) (injectionStartDelayUs + durationUs);
-		sescheduleByTimestamp(sDown, turnOffTime, (schfunc_t) &seTurnPinLow, pair);
+		sescheduleByTimestamp(sDown, turnOffTime, (schfunc_t) &seTurnPinLow, pair PASS_ENGINE_PARAMETER_SUFFIX);
 	}
 }
 

unit_tests/global_execution_queue.cpp

@@ -7,6 +7,7 @@
 
 #include "signal_executor.h"
 #include "event_queue.h"
+#include "global_execution_queue.h"
 
 // this global instance is used by integration tests via 'scheduleByTimestamp' global methods below
 EventQueue schedulingQueue;
@@ -21,6 +22,13 @@ void scheduleForLater(scheduling_s *scheduling, int delayUs,
 	scheduleByTimestamp(scheduling, getTimeNowUs() + delayUs, callback, param);
 }
 
+void TestExecutor::scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param) {
+	if (debugSignalExecutor) {
+		printf("scheduleByTime %d\r\n", time);
+	}
+	schedulingQueue.insertTask(scheduling, time, callback, param);
+}
+
 void scheduleByTimestamp(scheduling_s *scheduling,
 		efitimeus_t time, schfunc_t callback, void *param) {
 	if (debugSignalExecutor) {

unit_tests/global_execution_queue.h

@@ -0,0 +1,18 @@
+/*
+ * global_execution_queue.h
+ *
+ *  Created on: Jan 9, 2019
+ * @author Andrey Belomutskiy, (c) 2012-2019
+ */
+
+#ifndef GLOBAL_EXECUTION_QUEUE_H_
+#define GLOBAL_EXECUTION_QUEUE_H_
+
+#include "scheduler.h"
+
+class TestExecutor : public ExecutorInterface {
+public:
+	void scheduleByTimestamp(scheduling_s *scheduling, efitimeus_t timeUs, schfunc_t callback, void *param);
+};
+
+#endif /* GLOBAL_EXECUTION_QUEUE_H_ */