Arduino Multitasker

Multitasking for Arduino.

Example

First, create a TaskManager object. Then add specific tasks. Finally Call the ProcessTasks method from the TaskManager in a loop.

TaskManager *taskManager;

void Setup() {
    taskManager = TaskManager::GetInstance();
    Blinker* b = new Blinker(LED, 1000);
    taskManager->Add(b);
}

void loop() {
  taskManager->ProcessTasks();
}

TaskManager

The TaskManager is a singleton object that will run all tasks.

Added tasks have to be a Task object.

TaskManager provides the following methods:

• Add(Task*): add a task for scheduling.
• Remove(Task*): remove task from the scheduler.
• ProcessTasks(): start processing all tasks. This shoud be called in the main loop of your sketch.
• Clear(): remove all tasks.

Task

Task is an abstract class which is used to implement specific tasks. These Tasks can then added to the TaskManager for execution.

Task provides the following methods:

• CallBack(): implements the actual task.
• Enable(): enable task (default = enabled).
• Disable(): disable the task (task will be skipped by the Taskmanager).
• IsEnabled(): true if the task is enabled.
• Run(): run this task. Normally called by the TaskManager.

Do not use delay() calls in your tasks as they will block execution!

Sensor

The Sensor class is an abstract templated class used for input sensors. Input can be of any type for example: bool, float or even an array of bytes read from an I2C port. The Sensor class is not needed for the multitasker but it is nice to have a generic class for reading input.

Sensor provides the following methods:

• GetValue(): reads the last state of the sensor.
• ValueChanged(): indicates if there was a change since the last time we read the value from the sensor.

A simple button would be declared like so:

class Button: public Task, public Sensor<bool>