renormalizing pull request step1
This commit is contained in:
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@ -1,166 +1,171 @@
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#include "FixedTimeslotTask.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
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FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod overallPeriod,
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void (*setDeadlineMissedFunc)()) :
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started(false), handle(nullptr), pst(overallPeriod * 1000) {
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configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
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xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
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// All additional attributes are applied to the object.
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this->deadlineMissedFunc = setDeadlineMissedFunc;
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}
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FixedTimeslotTask::~FixedTimeslotTask() {
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}
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void FixedTimeslotTask::taskEntryPoint(void* argument) {
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// The argument is re-interpreted as FixedTimeslotTask. The Task object is
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// global, so it is found from any place.
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FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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/* Task should not start until explicitly requested,
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* but in FreeRTOS, tasks start as soon as they are created if the scheduler
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* is running but not if the scheduler is not running.
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* To be able to accommodate both cases we check a member which is set in
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* #startTask(). If it is not set and we get here, the scheduler was started
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* before #startTask() was called and we need to suspend if it is set,
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* the scheduler was not running before #startTask() was called and we
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* can continue */
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if (not originalTask->started) {
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vTaskSuspend(NULL);
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}
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originalTask->taskFunctionality();
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sif::debug << "Polling task " << originalTask->handle
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<< " returned from taskFunctionality." << std::endl;
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}
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void FixedTimeslotTask::missedDeadlineCounter() {
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FixedTimeslotTask::deadlineMissedCount++;
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if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
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sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
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<< " deadlines." << std::endl;
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}
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}
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ReturnValue_t FixedTimeslotTask::startTask() {
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started = true;
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// We must not call resume if scheduler is not started yet
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskResume(handle);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
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uint32_t slotTimeMs, int8_t executionStep) {
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ExecutableObjectIF* handler =
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objectManager->get<ExecutableObjectIF>(componentId);
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if (handler != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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sif::error << "Component " << std::hex << componentId <<
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" not found, not adding it to pst" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint32_t FixedTimeslotTask::getPeriodMs() const {
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return pst.getLengthMs();
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}
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ReturnValue_t FixedTimeslotTask::checkSequence() const {
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return pst.checkSequence();
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}
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void FixedTimeslotTask::taskFunctionality() {
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// A local iterator for the Polling Sequence Table is created to find the
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// start time for the first entry.
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auto slotListIter = pst.current;
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pst.intializeSequenceAfterTaskCreation();
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//The start time for the first entry is read.
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uint32_t intervalMs = slotListIter->pollingTimeMs;
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TickType_t interval = pdMS_TO_TICKS(intervalMs);
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TickType_t xLastWakeTime;
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/* The xLastWakeTime variable needs to be initialized with the current tick
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count. Note that this is the only time the variable is written to
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explicitly. After this assignment, xLastWakeTime is updated automatically
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internally within vTaskDelayUntil(). */
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xLastWakeTime = xTaskGetTickCount();
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// wait for first entry's start time
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if(interval > 0) {
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vTaskDelayUntil(&xLastWakeTime, interval);
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}
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/* Enter the loop that defines the task behavior. */
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for (;;) {
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//The component for this slot is executed and the next one is chosen.
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this->pst.executeAndAdvance();
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if (not pst.slotFollowsImmediately()) {
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// Get the interval till execution of the next slot.
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intervalMs = this->pst.getIntervalToPreviousSlotMs();
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interval = pdMS_TO_TICKS(intervalMs);
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checkMissedDeadline(xLastWakeTime, interval);
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// Wait for the interval. This exits immediately if a deadline was
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// missed while also updating the last wake time.
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vTaskDelayUntil(&xLastWakeTime, interval);
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}
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}
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}
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void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval) {
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/* Check whether deadline was missed while also taking overflows
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* into account. Drawing this on paper with a timeline helps to understand
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* it. */
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TickType_t currentTickCount = xTaskGetTickCount();
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TickType_t timeToWake = xLastWakeTime + interval;
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// Time to wake has not overflown.
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if(timeToWake > xLastWakeTime) {
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/* If the current time has overflown exclusively or the current
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* tick count is simply larger than the time to wake, a deadline was
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* missed */
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if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
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handleMissedDeadline();
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}
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}
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/* Time to wake has overflown. A deadline was missed if the current time
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* is larger than the time to wake */
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else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
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handleMissedDeadline();
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}
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}
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void FixedTimeslotTask::handleMissedDeadline() {
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#ifdef DEBUG
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sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
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" missed deadline!\n" << std::flush;
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#endif
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if(deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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}
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ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
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vTaskDelay(pdMS_TO_TICKS(ms));
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return HasReturnvaluesIF::RETURN_OK;
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}
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TaskHandle_t FixedTimeslotTask::getTaskHandle() {
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return handle;
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}
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#include "FixedTimeslotTask.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
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FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod overallPeriod,
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void (*setDeadlineMissedFunc)()) :
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started(false), handle(nullptr), pst(overallPeriod * 1000) {
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configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
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xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
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// All additional attributes are applied to the object.
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this->deadlineMissedFunc = setDeadlineMissedFunc;
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}
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FixedTimeslotTask::~FixedTimeslotTask() {
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}
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void FixedTimeslotTask::taskEntryPoint(void* argument) {
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// The argument is re-interpreted as FixedTimeslotTask. The Task object is
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// global, so it is found from any place.
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FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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/* Task should not start until explicitly requested,
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* but in FreeRTOS, tasks start as soon as they are created if the scheduler
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* is running but not if the scheduler is not running.
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* To be able to accommodate both cases we check a member which is set in
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* #startTask(). If it is not set and we get here, the scheduler was started
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* before #startTask() was called and we need to suspend if it is set,
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* the scheduler was not running before #startTask() was called and we
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* can continue */
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if (not originalTask->started) {
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vTaskSuspend(NULL);
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}
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originalTask->taskFunctionality();
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sif::debug << "Polling task " << originalTask->handle
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<< " returned from taskFunctionality." << std::endl;
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}
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void FixedTimeslotTask::missedDeadlineCounter() {
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FixedTimeslotTask::deadlineMissedCount++;
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if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
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sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
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<< " deadlines." << std::endl;
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}
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}
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ReturnValue_t FixedTimeslotTask::startTask() {
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started = true;
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// We must not call resume if scheduler is not started yet
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskResume(handle);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
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uint32_t slotTimeMs, int8_t executionStep) {
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ExecutableObjectIF* handler =
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objectManager->get<ExecutableObjectIF>(componentId);
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if (handler != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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sif::error << "Component " << std::hex << componentId <<
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" not found, not adding it to pst" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint32_t FixedTimeslotTask::getPeriodMs() const {
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return pst.getLengthMs();
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}
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ReturnValue_t FixedTimeslotTask::checkSequence() const {
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return pst.checkSequence();
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}
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void FixedTimeslotTask::taskFunctionality() {
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// A local iterator for the Polling Sequence Table is created to find the
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// start time for the first entry.
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auto slotListIter = pst.current;
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pst.intializeSequenceAfterTaskCreation();
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//The start time for the first entry is read.
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uint32_t intervalMs = slotListIter->pollingTimeMs;
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TickType_t interval = pdMS_TO_TICKS(intervalMs);
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TickType_t xLastWakeTime;
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/* The xLastWakeTime variable needs to be initialized with the current tick
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count. Note that this is the only time the variable is written to
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explicitly. After this assignment, xLastWakeTime is updated automatically
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internally within vTaskDelayUntil(). */
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xLastWakeTime = xTaskGetTickCount();
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// wait for first entry's start time
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if(interval > 0) {
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vTaskDelayUntil(&xLastWakeTime, interval);
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}
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/* Enter the loop that defines the task behavior. */
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for (;;) {
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//The component for this slot is executed and the next one is chosen.
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this->pst.executeAndAdvance();
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if (not pst.slotFollowsImmediately()) {
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// Get the interval till execution of the next slot.
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intervalMs = this->pst.getIntervalToPreviousSlotMs();
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interval = pdMS_TO_TICKS(intervalMs);
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checkMissedDeadline(xLastWakeTime, interval);
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// Wait for the interval. This exits immediately if a deadline was
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// missed while also updating the last wake time.
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vTaskDelayUntil(&xLastWakeTime, interval);
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}
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}
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}
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void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval) {
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/* Check whether deadline was missed while also taking overflows
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* into account. Drawing this on paper with a timeline helps to understand
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* it. */
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TickType_t currentTickCount = xTaskGetTickCount();
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TickType_t timeToWake = xLastWakeTime + interval;
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// Time to wake has not overflown.
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if(timeToWake > xLastWakeTime) {
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/* If the current time has overflown exclusively or the current
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* tick count is simply larger than the time to wake, a deadline was
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* missed */
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if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
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handleMissedDeadline();
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}
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}
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/* Time to wake has overflown. A deadline was missed if the current time
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* is larger than the time to wake */
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else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
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handleMissedDeadline();
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}
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}
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void FixedTimeslotTask::handleMissedDeadline() {
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if(deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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#ifdef DEBUG
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object_id_t handlerId = pst.current->handlerId;
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sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << " with"
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<< " object ID 0x" << std::setfill('0') << std::setw(8) << std::hex
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<< handlerId << " missed deadline!" << std::setfill(' ')
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<< std::dec << std::endl;
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#endif
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}
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ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
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vTaskDelay(pdMS_TO_TICKS(ms));
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return HasReturnvaluesIF::RETURN_OK;
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}
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TaskHandle_t FixedTimeslotTask::getTaskHandle() {
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return handle;
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}
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@ -1,101 +1,101 @@
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#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
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#include "../../tasks/FixedSlotSequence.h"
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#include "../../tasks/FixedTimeslotTaskIF.h"
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#include "../../tasks/Typedef.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
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public:
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/**
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* Keep in mind that you need to call before vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
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* @param setPriority Number of priorities specified by
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* configMAX_PRIORITIES. High taskPriority_ number means high priority.
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* @param setStack Stack size in words (not bytes!).
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* Lower limit specified by configMINIMAL_STACK_SIZE
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* @param overallPeriod Period in seconds.
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* @param setDeadlineMissedFunc Callback if a deadline was missed.
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* @return Pointer to the newly created task.
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*/
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FixedTimeslotTask(TaskName name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod overallPeriod,
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void (*setDeadlineMissedFunc)());
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/**
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* @brief The destructor of the class.
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* @details
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* The destructor frees all heap memory that was allocated on thread
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* initialization for the PST and the device handlers. This is done by
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* calling the PST's destructor.
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*/
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virtual ~FixedTimeslotTask(void);
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ReturnValue_t startTask(void);
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/**
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* This static function can be used as #deadlineMissedFunc.
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* It counts missedDeadlines and prints the number of missed deadlines
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* every 10th time.
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*/
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static void missedDeadlineCounter();
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/**
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* A helper variable to count missed deadlines.
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*/
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static uint32_t deadlineMissedCount;
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep) override;
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uint32_t getPeriodMs() const override;
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ReturnValue_t checkSequence() const override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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TaskHandle_t getTaskHandle() override;
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protected:
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bool started;
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TaskHandle_t handle;
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FixedSlotSequence pst;
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/**
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* @brief This attribute holds a function pointer that is executed when
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* a deadline was missed.
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* @details
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* Another function may be announced to determine the actions to perform
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* when a deadline was missed. Currently, only one function for missing
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* any deadline is allowed. If not used, it shall be declared NULL.
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*/
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void (*deadlineMissedFunc)(void);
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/**
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* @brief This is the entry point for a new task.
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* @details
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* This method starts the task by calling taskFunctionality(), as soon as
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* all requirements (task scheduler has started and startTask()
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* has been called) are met.
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*/
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static void taskEntryPoint(void* argument);
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/**
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* @brief This function holds the main functionality of the thread.
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* @details
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* Core function holding the main functionality of the task
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* It links the functionalities provided by FixedSlotSequence with the
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* OS's System Calls to keep the timing of the periods.
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*/
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void taskFunctionality(void);
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void checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval);
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void handleMissedDeadline();
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};
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#endif /* POLLINGTASK_H_ */
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#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
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#include "../../tasks/FixedSlotSequence.h"
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#include "../../tasks/FixedTimeslotTaskIF.h"
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#include "../../tasks/Typedef.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
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public:
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/**
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* Keep in mind that you need to call before vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
|
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* @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
|
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* @param setPriority Number of priorities specified by
|
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* configMAX_PRIORITIES. High taskPriority_ number means high priority.
|
||||
* @param setStack Stack size in words (not bytes!).
|
||||
* Lower limit specified by configMINIMAL_STACK_SIZE
|
||||
* @param overallPeriod Period in seconds.
|
||||
* @param setDeadlineMissedFunc Callback if a deadline was missed.
|
||||
* @return Pointer to the newly created task.
|
||||
*/
|
||||
FixedTimeslotTask(TaskName name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod overallPeriod,
|
||||
void (*setDeadlineMissedFunc)());
|
||||
|
||||
/**
|
||||
* @brief The destructor of the class.
|
||||
* @details
|
||||
* The destructor frees all heap memory that was allocated on thread
|
||||
* initialization for the PST and the device handlers. This is done by
|
||||
* calling the PST's destructor.
|
||||
*/
|
||||
virtual ~FixedTimeslotTask(void);
|
||||
|
||||
ReturnValue_t startTask(void);
|
||||
/**
|
||||
* This static function can be used as #deadlineMissedFunc.
|
||||
* It counts missedDeadlines and prints the number of missed deadlines
|
||||
* every 10th time.
|
||||
*/
|
||||
static void missedDeadlineCounter();
|
||||
/**
|
||||
* A helper variable to count missed deadlines.
|
||||
*/
|
||||
static uint32_t deadlineMissedCount;
|
||||
|
||||
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
|
||||
int8_t executionStep) override;
|
||||
|
||||
uint32_t getPeriodMs() const override;
|
||||
|
||||
ReturnValue_t checkSequence() const override;
|
||||
|
||||
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||
|
||||
TaskHandle_t getTaskHandle() override;
|
||||
|
||||
protected:
|
||||
bool started;
|
||||
TaskHandle_t handle;
|
||||
|
||||
FixedSlotSequence pst;
|
||||
|
||||
/**
|
||||
* @brief This attribute holds a function pointer that is executed when
|
||||
* a deadline was missed.
|
||||
* @details
|
||||
* Another function may be announced to determine the actions to perform
|
||||
* when a deadline was missed. Currently, only one function for missing
|
||||
* any deadline is allowed. If not used, it shall be declared NULL.
|
||||
*/
|
||||
void (*deadlineMissedFunc)(void);
|
||||
/**
|
||||
* @brief This is the entry point for a new task.
|
||||
* @details
|
||||
* This method starts the task by calling taskFunctionality(), as soon as
|
||||
* all requirements (task scheduler has started and startTask()
|
||||
* has been called) are met.
|
||||
*/
|
||||
static void taskEntryPoint(void* argument);
|
||||
|
||||
/**
|
||||
* @brief This function holds the main functionality of the thread.
|
||||
* @details
|
||||
* Core function holding the main functionality of the task
|
||||
* It links the functionalities provided by FixedSlotSequence with the
|
||||
* OS's System Calls to keep the timing of the periods.
|
||||
*/
|
||||
void taskFunctionality(void);
|
||||
|
||||
void checkMissedDeadline(const TickType_t xLastWakeTime,
|
||||
const TickType_t interval);
|
||||
void handleMissedDeadline();
|
||||
};
|
||||
|
||||
#endif /* POLLINGTASK_H_ */
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user