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Scheduler: port to mbed to demonstrate API compatibility
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‎libraries/Scheduler/README.adoc

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= Scheduler Library for Arduino =
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The Scheduler library enables the Arduino Due to run multiple functions at the same time. This allows tasks to happen without interrupting each other.
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For more information about this library please visit us at
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http://www.arduino.cc/en/Reference/Scheduler
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== License ==
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Copyright (c) 2012 The Android Open Source Project. All right reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.

‎libraries/Scheduler/examples/MultipleBlinks/MultipleBlinks.ino

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/*
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Multiple Blinks
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Demonstrates the use of the Scheduler library for the Arduino Nano 33 BLE
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Hardware required :
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* None (LEDs are already conencted to RGB LED)
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ATTENTION: LEDs polarity is reversed (so loop3 will turn the LED off by writing 1)
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created 8 Oct 2012
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by Cristian Maglie
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Modified by
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Scott Fitzgerald 19 Oct 2012
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This example code is in the public domain
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http://www.arduino.cc/en/Tutorial/MultipleBlinks
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*/
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// Include Scheduler since we want to manage multiple tasks.
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#include <Scheduler.h>
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int led1 = LEDR;
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int led2 = LEDG;
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int led3 = LEDB;
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void setup() {
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Serial.begin(9600);
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// Setup the 3 pins as OUTPUT
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pinMode(led1, OUTPUT);
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pinMode(led2, OUTPUT);
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pinMode(led3, OUTPUT);
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// Add "loop2" and "loop3" to scheduling.
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// "loop" is always started by default.
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Scheduler.startLoop(loop2);
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Scheduler.startLoop(loop3);
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}
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// Task no.1: blink LED with 1 second delay.
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void loop() {
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digitalWrite(led1, HIGH);
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// IMPORTANT:
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// When multiple tasks are running 'delay' passes control to
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// other tasks while waiting and guarantees they get executed.
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delay(1000);
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digitalWrite(led1, LOW);
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delay(1000);
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}
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// Task no.2: blink LED with 0.1 second delay.
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void loop2() {
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digitalWrite(led2, HIGH);
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delay(100);
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digitalWrite(led2, LOW);
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delay(100);
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}
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// Task no.3: accept commands from Serial port
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// '0' turns off LED
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// '1' turns on LED
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void loop3() {
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if (Serial.available()) {
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char c = Serial.read();
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if (c == '0') {
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digitalWrite(led3, LOW);
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Serial.println("Led turned off!");
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}
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if (c == '1') {
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digitalWrite(led3, HIGH);
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Serial.println("Led turned on!");
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}
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}
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// IMPORTANT:
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// We must call 'yield' at a regular basis to pass
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// control to other tasks.
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yield();
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}

‎libraries/Scheduler/keywords.txt

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#######################################
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# Syntax Coloring Map For Scheduler
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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Scheduler KEYWORD1 Scheduler
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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startLoop KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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‎libraries/Scheduler/library.properties

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name=Scheduler
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version=0.4.4
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author=Arduino
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maintainer=Arduino <info@arduino.cc>
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sentence=Allows multiple tasks to run at the same time, without interrupting each other. For Arduino sam and samd architectures only (Due, Zero...).
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paragraph=The Scheduler library enables the Arduino to run multiple functions at the same time. This allows tasks to happen without interrupting each other.</br>This is a cooperative scheduler in that the CPU switches from one task to another. The library includes methods for passing control between tasks.
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category=Other
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url=http://www.arduino.cc/en/Reference/Scheduler
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architectures=mbed

‎libraries/Scheduler/src/Scheduler.cpp

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/*
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* Copyright (C) 2012 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "Scheduler.h"
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SchedulerClass::SchedulerClass() {
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}
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static void loophelper(SchedulerTask task) {
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while (1) {
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task();
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}
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}
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void SchedulerClass::startLoop(SchedulerTask task, uint32_t stackSize) {
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int i = 0;
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while (threads[i] != NULL && i < MAX_THREADS_NUMBER) {
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i++;
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}
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threads[i] = new rtos::Thread(stackSize);
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threads[i]->start(mbed::callback(loophelper, task));
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}
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void SchedulerClass::start(SchedulerTask task, uint32_t stackSize) {
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int i = 0;
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while (threads[i] != NULL && i < MAX_THREADS_NUMBER) {
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i++;
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}
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threads[i] = new rtos::Thread(stackSize);
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threads[i]->start(task);
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}
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void SchedulerClass::start(SchedulerParametricTask task, void *taskData, uint32_t stackSize) {
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int i = 0;
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while (threads[i] != NULL && i < MAX_THREADS_NUMBER) {
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i++;
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}
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threads[i] = new rtos::Thread(stackSize);
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threads[i]->start(mbed::callback(task, taskData));
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}
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SchedulerClass Scheduler;
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‎libraries/Scheduler/src/Scheduler.h

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/*
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* Copyright (C) 2012 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef _SCHEDULER_H_
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#define _SCHEDULER_H_
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#include <Arduino.h>
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#include "mbed.h"
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#define MAX_THREADS_NUMBER 10
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extern "C" {
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typedef void (*SchedulerTask)(void);
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typedef void (*SchedulerParametricTask)(void *);
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}
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class SchedulerClass {
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public:
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SchedulerClass();
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void startLoop(SchedulerTask task, uint32_t stackSize = 1024);
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void start(SchedulerTask task, uint32_t stackSize = 1024);
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void start(SchedulerParametricTask task, void *data, uint32_t stackSize = 1024);
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void yield() { ::yield(); };
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private:
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rtos::Thread* threads[MAX_THREADS_NUMBER] = {NULL};
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};
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extern SchedulerClass Scheduler;
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#endif
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