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added deadline missed check

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Robin Müller 2020-06-19 14:45:29 +02:00
parent 454524d213
commit 31e5577763
2 changed files with 90 additions and 61 deletions
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55
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -1,17 +1,19 @@
#include "PeriodicTask.h"
#include <framework/serviceinterface/ServiceInterfaceStream.h> #include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/tasks/ExecutableObjectIF.h> #include <framework/tasks/ExecutableObjectIF.h>
#include "PeriodicTask.h"
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod, TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)()) : void (*setDeadlineMissedFunc)()) :
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
setDeadlineMissedFunc) { setDeadlineMissedFunc)
{
BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle); BaseType_t status = xTaskCreate(taskEntryPoint, name,
setStack, this, setPriority, &handle);
if(status != pdPASS){ if(status != pdPASS){
sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: " sif::debug << "PeriodicTask Insufficient heap memory remaining. "
<< status << std::endl; "Status: " << status << std::endl;
} }
} }
@ -21,16 +23,19 @@ PeriodicTask::~PeriodicTask(void) {
} }
void PeriodicTask::taskEntryPoint(void* argument) { void PeriodicTask::taskEntryPoint(void* argument) {
//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place. // The argument is re-interpreted as PeriodicTask. The Task object is
// global, so it is found from any place.
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument)); PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
// Task should not start until explicitly requested /* Task should not start until explicitly requested,
// in FreeRTOS, tasks start as soon as they are created if the scheduler is running * but in FreeRTOS, tasks start as soon as they are created if the scheduler
// but not if the scheduler is not running. * is running but not if the scheduler is not running.
// to be able to accommodate both cases we check a member which is set in #startTask() * To be able to accommodate both cases we check a member which is set in
// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend * #startTask(). If it is not set and we get here, the scheduler was started
// if it is set, the scheduler was not running before #startTask() was called and we can continue * before #startTask() was called and we need to suspend if it is set,
* the scheduler was not running before #startTask() was called and we
* can continue */
if (!originalTask->started) { if (not originalTask->started) {
vTaskSuspend(NULL); vTaskSuspend(NULL);
} }
@ -59,9 +64,9 @@ void PeriodicTask::taskFunctionality() {
TickType_t xLastWakeTime; TickType_t xLastWakeTime;
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.); const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
/* The xLastWakeTime variable needs to be initialized with the current tick /* The xLastWakeTime variable needs to be initialized with the current tick
count. Note that this is the only time the variable is written to explicitly. count. Note that this is the only time the variable is written to
After this assignment, xLastWakeTime is updated automatically internally within explicitly. After this assignment, xLastWakeTime is updated automatically
vTaskDelayUntil(). */ internally within vTaskDelayUntil(). */
xLastWakeTime = xTaskGetTickCount(); xLastWakeTime = xTaskGetTickCount();
/* Enter the loop that defines the task behavior. */ /* Enter the loop that defines the task behavior. */
for (;;) { for (;;) {
@ -69,8 +74,22 @@ void PeriodicTask::taskFunctionality() {
it != objectList.end(); ++it) { it != objectList.end(); ++it) {
(*it)->performOperation(); (*it)->performOperation();
} }
//TODO deadline missed check
/* If all operations are finished and the difference of the
* current time minus the last wake time is larger than the
* wait period, a deadline was missed. */
if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
#ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
vTaskDelayUntil(&xLastWakeTime, xPeriod); vTaskDelayUntil(&xLastWakeTime, xPeriod);
} }
} }

96
osal/FreeRTOS/PeriodicTask.h
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@ -1,48 +1,49 @@
#ifndef MULTIOBJECTTASK_H_ #ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#define MULTIOBJECTTASK_H_ #define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#include <framework/objectmanager/ObjectManagerIF.h> #include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/tasks/PeriodicTaskIF.h> #include <framework/tasks/PeriodicTaskIF.h>
#include <framework/tasks/Typedef.h> #include <framework/tasks/Typedef.h>
#include <FreeRTOS.h> #include <freertos/FreeRTOS.h>
#include "task.h" #include <freertos/task.h>
#include <vector> #include <vector>
class ExecutableObjectIF; class ExecutableObjectIF;
/** /**
* @brief This class represents a specialized task for periodic activities of multiple objects. * @brief This class represents a specialized task for
* * periodic activities of multiple objects.
* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
* multiple objects that implement the ExecutableObjectIF interface. The objects must be
* added prior to starting the task.
*
* @ingroup task_handling * @ingroup task_handling
*/ */
class PeriodicTask: public PeriodicTaskIF { class PeriodicTask: public PeriodicTaskIF {
public: public:
/** /**
* @brief Standard constructor of the class. * Keep in Mind that you need to call before this vTaskStartScheduler()!
* @details The class is initialized without allocated objects. These need to be added * A lot of task parameters are set in "FreeRTOSConfig.h".
* with #addObject. * TODO: why does this need to be called before vTaskStartScheduler?
* In the underlying TaskBase class, a new operating system task is created. * @details
* In addition to the TaskBase parameters, the period, the pointer to the * The class is initialized without allocated objects.
* aforementioned initialization function and an optional "deadline-missed" * These need to be added with #addComponent.
* function pointer is passed. * @param priority
* @param priority Sets the priority of a task. Values range from a low 0 to a high 99. * Sets the priority of a task. Values depend on freeRTOS configuration,
* @param stack_size The stack size reserved by the operating system for the task. * high number means high priority.
* @param setPeriod The length of the period with which the task's functionality will be * @param stack_size
* executed. It is expressed in clock ticks. * The stack size reserved by the operating system for the task.
* @param setDeadlineMissedFunc The function pointer to the deadline missed function * @param setPeriod
* that shall be assigned. * The length of the period with which the task's
* functionality will be executed. It is expressed in clock ticks.
* @param setDeadlineMissedFunc
* The function pointer to the deadline missed function that shall
* be assigned.
*/ */
PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod, PeriodicTask(const char *name, TaskPriority setPriority,
void (*setDeadlineMissedFunc)()); TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)());
/** /**
* @brief Currently, the executed object's lifetime is not coupled with the task object's * @brief Currently, the executed object's lifetime is not coupled with
* lifetime, so the destructor is empty. * the task object's lifetime, so the destructor is empty.
*/ */
virtual ~PeriodicTask(void); virtual ~PeriodicTask(void);
@ -58,7 +59,9 @@ public:
* Adds an object to the list of objects to be executed. * Adds an object to the list of objects to be executed.
* The objects are executed in the order added. * The objects are executed in the order added.
* @param object Id of the object to add. * @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added. * @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/ */
ReturnValue_t addComponent(object_id_t object); ReturnValue_t addComponent(object_id_t object);
@ -69,42 +72,49 @@ protected:
bool started; bool started;
TaskHandle_t handle; TaskHandle_t handle;
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects. //! Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
/** /**
* @brief This attribute holds a list of objects to be executed. * @brief This attribute holds a list of objects to be executed.
*/ */
ObjectList objectList; ObjectList objectList;
/** /**
* @brief The period of the task. * @brief The period of the task.
* @details The period determines the frequency of the task's execution. It is expressed in clock ticks. * @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/ */
TaskPeriod period; TaskPeriod period;
/** /**
* @brief The pointer to the deadline-missed function. * @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed. * @details
* So, each may react individually on a timing failure. The pointer may be NULL, * This pointer stores the function that is executed if the task's deadline
* then nothing happens on missing the deadline. The deadline is equal to the next execution * is missed so each may react individually on a timing failure.
* of the periodic task. * The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/ */
void (*deadlineMissedFunc)(void); void (*deadlineMissedFunc)(void);
/** /**
* @brief This is the function executed in the new task's context. * @brief This is the function executed in the new task's context.
* @details It converts the argument back to the thread object type and copies the class instance * @details
* to the task context. The taskFunctionality method is called afterwards. * It converts the argument back to the thread object type and copies the
* class instance to the task context. The taskFunctionality method is
* called afterwards.
* @param A pointer to the task object itself is passed as argument. * @param A pointer to the task object itself is passed as argument.
*/ */
static void taskEntryPoint(void* argument); static void taskEntryPoint(void* argument);
/** /**
* @brief The function containing the actual functionality of the task. * @brief The function containing the actual functionality of the task.
* @details The method sets and starts * @details
* the task's period, then enters a loop that is repeated as long as the isRunning * The method sets and starts the task's period, then enters a loop that is
* attribute is true. Within the loop, all performOperation methods of the added * repeated as long as the isRunning attribute is true. Within the loop,
* objects are called. Afterwards the checkAndRestartPeriod system call blocks the task * all performOperation methods of the added objects are called.
* until the next period. * Afterwards the checkAndRestartPeriod system call blocks the task until
* On missing the deadline, the deadlineMissedFunction is executed. * the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/ */
void taskFunctionality(void); void taskFunctionality(void);
}; };
#endif /* MULTIOBJECTTASK_H_ */ #endif /* PERIODICTASK_H_ */