fsfw/osal/rtems/TaskBase.cpp

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#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "TaskBase.h"
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE;
TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
const char *name) {
rtems_name osalName = 0;
for (uint8_t i = 0; i < 4; i++) {
if (name[i] == 0) {
break;
}
osalName += name[i] << (8 * (3 - i));
}
//The task is created with the operating system's system call.
rtems_status_code status = RTEMS_UNSATISFIED;
if (set_priority >= 0 && set_priority <= 99) {
status = rtems_task_create(osalName,
(0xFF - 2 * set_priority), stack_size,
RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR,
RTEMS_FLOATING_POINT, &id);
}
ReturnValue_t result = convertReturnCode(status);
if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
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<< osalName << std::dec << " failed with return code "
<< (uint32_t) status << std::endl;
this->id = 0;
}
}
TaskBase::~TaskBase() {
rtems_task_delete(id);
}
rtems_id TaskBase::getId() {
return this->id;
}
ReturnValue_t TaskBase::sleepFor(uint32_t ms) {
rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
return convertReturnCode(status);
}
ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
switch (inValue) {
case RTEMS_SUCCESSFUL:
return HasReturnvaluesIF::RETURN_OK;
case RTEMS_MP_NOT_CONFIGURED:
return HasReturnvaluesIF::RETURN_FAILED;
case RTEMS_INVALID_NAME:
return HasReturnvaluesIF::RETURN_FAILED;
case RTEMS_TOO_MANY:
return HasReturnvaluesIF::RETURN_FAILED;
case RTEMS_INVALID_ADDRESS:
return HasReturnvaluesIF::RETURN_FAILED;
case RTEMS_UNSATISFIED:
return HasReturnvaluesIF::RETURN_FAILED;
case RTEMS_INVALID_PRIORITY:
return HasReturnvaluesIF::RETURN_FAILED;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
if (status == RTEMS_SUCCESSFUL) {
status = restartPeriod(period,*periodId);
}
return convertReturnCode(status);
}
rtems_status_code TaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
//This is necessary to avoid a call with period = 0, which does not start the period.
rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
return status;
}