107 lines
3.5 KiB
C++
107 lines
3.5 KiB
C++
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include "PollingTask.h"
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uint32_t PollingTask::deadlineMissedCount = 0;
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PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
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size_t setStack, uint32_t setOverallPeriod,
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void (*setDeadlineMissedFunc)()) :
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TaskBase(setPriority, setStack, name), periodId(0), pst(
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setOverallPeriod) {
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// All additional attributes are applied to the object.
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this->deadlineMissedFunc = setDeadlineMissedFunc;
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rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
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rtems_status_code status = rtems_rate_monotonic_create(periodName,
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&periodId);
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if (status != RTEMS_SUCCESSFUL) {
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error << "PollingTask::period create failed with status " << status
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<< std::endl;
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}
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}
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PollingTask::~PollingTask() {
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}
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rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
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//The argument is re-interpreted as PollingTask.
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PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
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//The task's functionality is called.
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originalTask->taskFunctionality();
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debug << "Polling task " << originalTask->getId()
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<< " returned from taskFunctionality." << std::endl;
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}
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void PollingTask::missedDeadlineCounter() {
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PollingTask::deadlineMissedCount++;
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if (PollingTask::deadlineMissedCount % 10 == 0) {
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error << "PST missed " << PollingTask::deadlineMissedCount
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<< " deadlines." << std::endl;
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}
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}
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ReturnValue_t PollingTask::startTask() {
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rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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error << "PollingTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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}
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return RtemsBasic::convertReturnCode(status);
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}
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ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep) {
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pst.addSlot(componentId, slotTimeMs, executionStep, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PollingTask::getPeriodMs() const {
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return pst.getLengthMs();
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}
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ReturnValue_t PollingTask::checkSequence() const {
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return pst.checkSequence();
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}
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void PollingTask::taskFunctionality() {
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// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
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std::list<FixedSequenceSlot*>::iterator it = pst.current;
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//The start time for the first entry is read.
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rtems_interval interval = RtemsBasic::convertMsToTicks(
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(*it)->pollingTimeMs);
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//The period is set up and started with the system call.
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//The +1 is necessary to avoid a call with period = 0, which does not start the period.
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rtems_status_code status = rtems_rate_monotonic_period(periodId,
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interval + 1);
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if (status != RTEMS_SUCCESSFUL) {
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error << "PollingTask::period start failed with status " << status
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<< std::endl;
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return;
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}
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//The task's "infinite" inner loop is entered.
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while (1) {
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if (pst.slotFollowsImmediately()) {
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//Do nothing
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} else {
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//The interval for the next polling slot is selected.
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interval = this->pst.getIntervalMs();
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//The period is checked and restarted with the new interval.
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//If the deadline was missed, the deadlineMissedFunc is called.
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status = rtems_rate_monotonic_period(periodId, interval);
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if (status == RTEMS_TIMEOUT) {
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if (this->deadlineMissedFunc != NULL) {
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this->deadlineMissedFunc();
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}
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}
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}
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//The device handler for this slot is executed and the next one is chosen.
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this->pst.executeAndAdvance();
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}
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}
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ReturnValue_t PollingTask::sleepFor(uint32_t ms){
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return TaskBase::sleepFor(ms);
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};
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