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Hello, welcome back.

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And this lesson, we're going to see how to work with software timers when you use in these cases are

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apps.

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I've created a copy of our last project over here.

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I've given it a name all this time.

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The last project was always delay, so I just make it.

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I just made a copy of Not Changed Anything.

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So we're simply going to open the main road see file here.

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And this is as we left it.

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We have four tasks with different priorities.

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That was the last thing we did.

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OK, so we're going to create software timers just like we saw when we were using the native free Arktos

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APIs.

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At time, I can either be a one a one short timer or aperiodic or to reload.

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A timer is the same over here.

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And just like we saw there as well, time is half callback functions and the callback function is the

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function that gets executed when a timeout occurs.

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Let's go to our documentation to find the function for the timer we can scroll here and look for.

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Taimur.

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Over here, there is time management.

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I'm going to click here.

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It's not open and OK, so we have this.

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See?

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Let's look at the timer again, so there is timer management.

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I'm going to click to dropdown and then dysfunction or waste time a new.

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Let's see.

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So this is the function, the first argument, a pointer to the time, a callback function, the next

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argument here is the type of time we want, whether we want a callback function or whether we want to

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one short function over here, one should function.

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Whether we want to one short timer, sorry about that over here, once your timer is known as always

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timer was or whether we want an auto reload periodic timer.

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And this is not known as always time periodic.

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And then the third argument is argument we can pass to the timer callback function, just like we have

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the ability to pass argument to our task functions.

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We can pass arguments to over time a callback function as well.

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And of course, a timer like a task also requires the.

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Time attributes.

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Just like the attributes we assign to it our task and we pass the attribute structure as argument,

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we are required to pass the same thing with a timer if we want to provide any further configuration

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through the attribute.

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But in this example, we're simply going to pass.

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Now, over here says we can pass.

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No.

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OK.

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Let's see, yeah.

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I wonder why it's sehnalová over here, it says Waititi, our time attributes now default values.

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OK, so the attribute is supposed to allow us to have a configuration.

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In a way, we go to pass this last argument.

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We're going to create over time a callback function plays its prototype here.

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We're going to decide whether we want to one short time or periodic time.

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And we're going to pass now here.

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We have no arguments and we're going to pass.

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Not here.

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We have no further attributes.

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OK.

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So this is how could as we left it, we're going to study the ideas of our time into their own variables.

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We're going to have to time this.

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So over here, just like we had.

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Thread ID, we have time, I know, one full time or one and one for a time or two, so we have time,

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I wanted to add.

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OK, so we're going to create the timer.

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And when we create the time at the time, it's going to return the ad and the ad is going to be stored

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in the 80 variables we've declared up there.

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So I'll come over here.

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We call the time accretes and we're going to give this time is a callback function to name time one

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callback.

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And this is a one shot timer.

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We have no arguments.

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We have no further attributes to add.

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OK, and we're going to create the second one.

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We simply say timer to ID, we're going to create a callback called timer to callback this one.

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We want it to be periodic.

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We have no further argument, no further attributes to add here.

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So once we've created a timer, we go.

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Once we create a timer, we have to start the timer and to start the timer.

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If you check our documentation, there is a function known as always timer start.

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This function takes to document the idea of the timer you want to start and then the period of the timer.

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So rather than start the timer in the main function, I'm going to start a timer and one of our tasks

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I'll see.

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Maybe the blue task is going to start.

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Our time is where it's blue.

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OK, so when Blue starts over here, we're going to call our timer starts and we're going to give our

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time one a period of five thousand and timer to a period of 1000 like this.

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OK, so we know what time or one.

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Who is time one?

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Time one is our one short time, our time to choose our periodic time.

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So this time outs would occur periodically after every thousand ticks.

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OK, so once this is done, we go to implement the time a callback function.

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And what we can do also is create profiles for our time, just like we have our task profiler.

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We can create global variables for our time as well.

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So I'm going to create over here we have profiler's for our task functions.

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I'm going to have profiler for time one another one for Tamati, OK?

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And the timer callback function is simply going to do what our task functions do over here.

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We're not implementing any complicated algorithm.

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You can add your own algorithm over here for me to show you how it works, I simply increment the profiler.

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OK, so we simply going to we set a callback function for the time that one is going to be timer one

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underscore callback and a wonderful time or two will be timer to underscore a callback.

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So we simply put a callback function here year.

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And also I should mention time a callback functions are different from our tasks.

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They have to run to completion.

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There's no well, one loop here.

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So we run and then we end, whereas our tasks have one loops.

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OK, so don't make the mistake of putting a one loop here, OK?

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So once this is done, we've got to put the the prototype of the callback functions at the top of the

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code or copy this and.

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Would drop it over here and up west, semicolon here and then this fourth time or two where semicolon

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here.

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So let's build and see what we have.

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I'll click over here to build.

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To building.

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Spewed successfully.

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I'm going to right click over here.

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And I'll say debug us estimate 30 to.

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And select forty one over here.

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And I say, OK, over here.

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It's open in.

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Switch.

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And I'm going to add our time, our profilers, I'm going to delete this resume monitor, we don't need

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it over here.

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Remove this and I'm going to come over here at time of one profiler.

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And to profile.

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And then click here to run.

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As you can see, that period up in time to.

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OK, no time or one time I want you to waste your time, so it's OK after time to reach five and two

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is to run in time.

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No one wants to run again because it's a one short timer.

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So it's as simple as that.

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We know the theory behind this.

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We've seen how to do this using the native free ARTUS APIs.

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Now this is how to do it.

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Using the sensors are to us too.

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So that's all there is.

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And I'll see you in the next lesson.

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Have a nice day.