added comments to scheduler

src/scheduler.cpp

@@ -58,7 +58,7 @@ void Scheduler::initializeScheduler()
  *
  * This function iterates through a schedule table to find the event that
  * should run next based on the current system time.
- * It ensures that no overlapping events are scheduled by checking with
+ * 
  *
  * @see tests/googletests.cpp for intended behavior
  *
@@ -71,6 +71,7 @@ void Scheduler::initializeScheduler()
  * @param currentTime The current system time
  * @return Returns SUCCESS if a suitable event is found,
  * TASK_SEARCH_FAIL otherwise.
+ * 
  */
 
 SCH_error_e Scheduler::getNextTask(DeploymentSchedule_t** p_nextEvent,
@@ -80,28 +81,45 @@ SCH_error_e Scheduler::getNextTask(DeploymentSchedule_t** p_nextEvent,
     std::uint32_t minNextTime = UINT32_MAX;
     DeploymentSchedule_t* nextEvent = nullptr;
 
-    // Iterate through each event in the schedule table in reverse order.
-
+    /*Iterate through each event in the schedule table in reverse order, with 
+    the goal of determining if a lower prioirty task can run before a higher 
+    priority task must run. */
     for (int idx = tableSize - 1; idx >= 0; idx--)
     {
         bool canSet = true;
         DeploymentSchedule_t& currentEvent = scheduleTable[idx];
         StateInformation& currentEventState = scheduleTable[idx].state;
         std::uint32_t runTime = currentEventState.nextRunTime;
+
+        /* check if a delay exists. Current time comes from clock, which starts
+        at time 0 and is increasing. if currentTime is ahead of runTime, there 
+        is a delay. We will try to run the task immediately. */
         int delay = currentTime - runTime;
+
         if (delay > 0)
         {
             runTime = currentTime;
         }
-        else
+
+        /*if delay is negative, clock has not reached the proposed runTime of a 
+        task and there is no delay. Set delay to 0*/
+
+        if(delay<=0)
         {
             delay = 0;
         }
+
         if (delay >= currentEvent.maxDelay)
         {
             //! TODO: send warning
         }
+        //Finish time of a task is when we want to run the task plus its duration
         int expected_completion = runTime + currentEvent.maxDuration;
+
+        /*Iterate through all tasks of higher prioirty. If the time the task 
+         will finish overlaps with any task of higher prioirty, we cannot run this
+         task next. The highest prioirty task will not be checked against other 
+         tasks, so by default that will run*/
         int j = 0;
         for (int j = 0; (j < idx) && canSet; j++)
         {
@@ -110,6 +128,8 @@ SCH_error_e Scheduler::getNextTask(DeploymentSchedule_t** p_nextEvent,
                 canSet = false;
             }
         }
+        /*If there were no conflicts with higher prioirity tasks, we can set the 
+        next task to the task in question*/
         if (canSet)
         {
             *p_nextEvent = &currentEvent;
@@ -118,7 +138,9 @@ SCH_error_e Scheduler::getNextTask(DeploymentSchedule_t** p_nextEvent,
                 currentEvent.ensembleInterval;
 
             currentEventState.measurementCount++;
-
+
+            /*If delay was greater than 0, we want to shift all future occurences
+             of the task by delay amount to re-establish a constant frequency*/
             if (delay > 0)
             {
                 FLOG_AddError(FLOG_SCHEDULER_DELAY_EXCEEDED,