revert merge from development

Author: victor-Lopez25

Inc/HALAL/Services/Time/Scheduler.hpp

@@ -17,6 +17,8 @@
 #endif
 
 #include "stm32h7xx_ll_tim_wrapper.h"
+#include "HALAL/Models/Packets/Packet.hpp"
+#include "HALAL/Services/Communication/Ethernet/LWIP/UDP/DatagramSocket.hpp"
 
 #include <array>
 #include <cstdint>
@@ -113,4 +115,4 @@ struct Scheduler {
 
     static inline void global_timer_disable();
     static inline void global_timer_enable();
-};
+};

Src/HALAL/Services/Time/Scheduler.cpp

@@ -143,6 +143,7 @@ void Scheduler::update() {
         uint32_t bit_index = static_cast<uint32_t>(__builtin_ctz(ready_bitmap_));
 
         Task& task = tasks_[bit_index];
+
         task.callback();
 
         SchedLock();
@@ -280,9 +281,9 @@ void Scheduler::schedule_next_interval() {
 
         Scheduler_global_timer->ARR = current_interval_us_ - 1u;
         if (Scheduler_global_timer->CNT > Scheduler_global_timer->ARR) [[unlikely]] {
-            uint32_t offset = Scheduler_global_timer->CNT - Scheduler_global_timer->ARR;
+            uint32_t cnt_temp = Scheduler_global_timer->CNT;
             Scheduler_global_timer->CNT = 0;
-            global_tick_us_ += offset;
+            global_tick_us_ += cnt_temp;
         }
     }
     Scheduler::global_timer_enable();
@@ -298,11 +299,15 @@ inline void Scheduler::on_timer_update() {
         if (diff > 0) [[likely]] {
             break; // Task is in the future, stop processing
         }
+        uint32_t task_bit = 1u << candidate_id;
 
         SchedLock();
         pop_front();
         // mark task as ready
-        SET_BIT(ready_bitmap_, 1u << candidate_id);
+        if ((ready_bitmap_ & task_bit) != 0) [[unlikely]] {
+            ErrorHandler("Too slow, could not execute task %u in time", candidate_id);
+        }
+        SET_BIT(ready_bitmap_, task_bit);
         if (task.repeating) [[likely]] {
             task.next_fire_us = static_cast<uint32_t>(global_tick_us_ + task.period_us);
             insert_sorted(candidate_id);
@@ -401,4 +406,4 @@ bool Scheduler::cancel_timeout(uint16_t id) {
     schedule_next_interval();
     SchedUnlock();
     return true;
-}
+}

Tests/Time/scheduler_test.cpp

@@ -289,4 +289,4 @@ TEST_F(SchedulerTests, SameTaskMultipleTimes) {
         NUM_TICKS / 1 - 1 + NUM_TICKS / 2 - 1 + NUM_TICKS / 3 - 1 + NUM_TICKS / 4 - 1 +
             NUM_TICKS / 5 - 1 + NUM_TICKS / 6 - 1
     );
-}
+}