51 lines
1.3 KiB
C++
51 lines
1.3 KiB
C++
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/*
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* TaskBase.cpp
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*
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* Created on: Nov 5, 2012
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* Author: baetz
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*/
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <framework/tasks/TaskBase.h>
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TaskBase::TaskBase( TaskPriority_t set_priority, size_t stack_size , const char *name) : isRunning(false) {
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Name_t osalName = 0;
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for (uint8_t i = 0; i < 4; i++){
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if (name[i] == 0){
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break;
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}
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osalName += name[i] << (8*(3-i));
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}
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//The task is created with the operating system's system call.
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ReturnValue_t status = OSAL::createTask(
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osalName, set_priority,
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stack_size,
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OSAL::PREEMPT | OSAL::NO_TIMESLICE | OSAL::NO_ASR, OSAL::FLOATING_POINT,
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&( this->id )
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);
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//TODO: Safe system halt or FDIR call on failed task creation?
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if( status != RETURN_OK ) {
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error << "TaskBase::TaskBase: createTask with name " << std::hex << osalName << std::dec << " failed with return code " << (uint32_t)status << std::endl;
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this->id = 0;
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} else {
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// debug << "TaskBase::TaskBase: createTask successful. Name: " << std::hex << new_name << ", ID: " << this->id << std::dec << std::endl;
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}
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}
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TaskBase::~TaskBase() {
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OSAL::deleteTask( &(this->id) );
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}
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TaskId_t TaskBase::getId() {
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return this->id;
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}
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void TaskBase::setRunning( bool set ) {
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this->isRunning = set;
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}
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uint8_t TaskBase::taskCounter = 0;
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