renormalizing pull request step1
This commit is contained in:
parent
7ad5274803
commit
5eaf6cfd1f
@ -1,166 +1,171 @@
|
||||
#include "FixedTimeslotTask.h"
|
||||
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
|
||||
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
|
||||
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
|
||||
|
||||
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod overallPeriod,
|
||||
void (*setDeadlineMissedFunc)()) :
|
||||
started(false), handle(nullptr), pst(overallPeriod * 1000) {
|
||||
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
|
||||
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
|
||||
// All additional attributes are applied to the object.
|
||||
this->deadlineMissedFunc = setDeadlineMissedFunc;
|
||||
}
|
||||
|
||||
FixedTimeslotTask::~FixedTimeslotTask() {
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::taskEntryPoint(void* argument) {
|
||||
|
||||
// The argument is re-interpreted as FixedTimeslotTask. The Task object is
|
||||
// global, so it is found from any place.
|
||||
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
|
||||
/* Task should not start until explicitly requested,
|
||||
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
|
||||
* 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(). If it is not set and we get here, the scheduler was started
|
||||
* 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 (not originalTask->started) {
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
|
||||
originalTask->taskFunctionality();
|
||||
sif::debug << "Polling task " << originalTask->handle
|
||||
<< " returned from taskFunctionality." << std::endl;
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::missedDeadlineCounter() {
|
||||
FixedTimeslotTask::deadlineMissedCount++;
|
||||
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
|
||||
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
|
||||
<< " deadlines." << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::startTask() {
|
||||
started = true;
|
||||
|
||||
// We must not call resume if scheduler is not started yet
|
||||
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
|
||||
vTaskResume(handle);
|
||||
}
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
|
||||
uint32_t slotTimeMs, int8_t executionStep) {
|
||||
ExecutableObjectIF* handler =
|
||||
objectManager->get<ExecutableObjectIF>(componentId);
|
||||
if (handler != nullptr) {
|
||||
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
sif::error << "Component " << std::hex << componentId <<
|
||||
" not found, not adding it to pst" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
uint32_t FixedTimeslotTask::getPeriodMs() const {
|
||||
return pst.getLengthMs();
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::checkSequence() const {
|
||||
return pst.checkSequence();
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::taskFunctionality() {
|
||||
// A local iterator for the Polling Sequence Table is created to find the
|
||||
// start time for the first entry.
|
||||
auto slotListIter = pst.current;
|
||||
|
||||
pst.intializeSequenceAfterTaskCreation();
|
||||
|
||||
//The start time for the first entry is read.
|
||||
uint32_t intervalMs = slotListIter->pollingTimeMs;
|
||||
TickType_t interval = pdMS_TO_TICKS(intervalMs);
|
||||
|
||||
TickType_t xLastWakeTime;
|
||||
/* 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. After this assignment, xLastWakeTime is updated automatically
|
||||
internally within vTaskDelayUntil(). */
|
||||
xLastWakeTime = xTaskGetTickCount();
|
||||
|
||||
// wait for first entry's start time
|
||||
if(interval > 0) {
|
||||
vTaskDelayUntil(&xLastWakeTime, interval);
|
||||
}
|
||||
|
||||
/* Enter the loop that defines the task behavior. */
|
||||
for (;;) {
|
||||
//The component for this slot is executed and the next one is chosen.
|
||||
this->pst.executeAndAdvance();
|
||||
if (not pst.slotFollowsImmediately()) {
|
||||
// Get the interval till execution of the next slot.
|
||||
intervalMs = this->pst.getIntervalToPreviousSlotMs();
|
||||
interval = pdMS_TO_TICKS(intervalMs);
|
||||
|
||||
checkMissedDeadline(xLastWakeTime, interval);
|
||||
|
||||
// Wait for the interval. This exits immediately if a deadline was
|
||||
// missed while also updating the last wake time.
|
||||
vTaskDelayUntil(&xLastWakeTime, interval);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
|
||||
const TickType_t interval) {
|
||||
/* Check whether deadline was missed while also taking overflows
|
||||
* into account. Drawing this on paper with a timeline helps to understand
|
||||
* it. */
|
||||
TickType_t currentTickCount = xTaskGetTickCount();
|
||||
TickType_t timeToWake = xLastWakeTime + interval;
|
||||
// Time to wake has not overflown.
|
||||
if(timeToWake > xLastWakeTime) {
|
||||
/* If the current time has overflown exclusively or the current
|
||||
* tick count is simply larger than the time to wake, a deadline was
|
||||
* missed */
|
||||
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
|
||||
handleMissedDeadline();
|
||||
}
|
||||
}
|
||||
/* Time to wake has overflown. A deadline was missed if the current time
|
||||
* is larger than the time to wake */
|
||||
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
|
||||
handleMissedDeadline();
|
||||
}
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::handleMissedDeadline() {
|
||||
#ifdef DEBUG
|
||||
sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
|
||||
" missed deadline!\n" << std::flush;
|
||||
#endif
|
||||
if(deadlineMissedFunc != nullptr) {
|
||||
this->deadlineMissedFunc();
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
|
||||
vTaskDelay(pdMS_TO_TICKS(ms));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
TaskHandle_t FixedTimeslotTask::getTaskHandle() {
|
||||
return handle;
|
||||
}
|
||||
#include "FixedTimeslotTask.h"
|
||||
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
|
||||
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
|
||||
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
|
||||
|
||||
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod overallPeriod,
|
||||
void (*setDeadlineMissedFunc)()) :
|
||||
started(false), handle(nullptr), pst(overallPeriod * 1000) {
|
||||
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
|
||||
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
|
||||
// All additional attributes are applied to the object.
|
||||
this->deadlineMissedFunc = setDeadlineMissedFunc;
|
||||
}
|
||||
|
||||
FixedTimeslotTask::~FixedTimeslotTask() {
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::taskEntryPoint(void* argument) {
|
||||
|
||||
// The argument is re-interpreted as FixedTimeslotTask. The Task object is
|
||||
// global, so it is found from any place.
|
||||
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
|
||||
/* Task should not start until explicitly requested,
|
||||
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
|
||||
* 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(). If it is not set and we get here, the scheduler was started
|
||||
* 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 (not originalTask->started) {
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
|
||||
originalTask->taskFunctionality();
|
||||
sif::debug << "Polling task " << originalTask->handle
|
||||
<< " returned from taskFunctionality." << std::endl;
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::missedDeadlineCounter() {
|
||||
FixedTimeslotTask::deadlineMissedCount++;
|
||||
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
|
||||
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
|
||||
<< " deadlines." << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::startTask() {
|
||||
started = true;
|
||||
|
||||
// We must not call resume if scheduler is not started yet
|
||||
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
|
||||
vTaskResume(handle);
|
||||
}
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
|
||||
uint32_t slotTimeMs, int8_t executionStep) {
|
||||
ExecutableObjectIF* handler =
|
||||
objectManager->get<ExecutableObjectIF>(componentId);
|
||||
if (handler != nullptr) {
|
||||
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
sif::error << "Component " << std::hex << componentId <<
|
||||
" not found, not adding it to pst" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
uint32_t FixedTimeslotTask::getPeriodMs() const {
|
||||
return pst.getLengthMs();
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::checkSequence() const {
|
||||
return pst.checkSequence();
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::taskFunctionality() {
|
||||
// A local iterator for the Polling Sequence Table is created to find the
|
||||
// start time for the first entry.
|
||||
auto slotListIter = pst.current;
|
||||
|
||||
pst.intializeSequenceAfterTaskCreation();
|
||||
|
||||
//The start time for the first entry is read.
|
||||
uint32_t intervalMs = slotListIter->pollingTimeMs;
|
||||
TickType_t interval = pdMS_TO_TICKS(intervalMs);
|
||||
|
||||
TickType_t xLastWakeTime;
|
||||
/* 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. After this assignment, xLastWakeTime is updated automatically
|
||||
internally within vTaskDelayUntil(). */
|
||||
xLastWakeTime = xTaskGetTickCount();
|
||||
|
||||
// wait for first entry's start time
|
||||
if(interval > 0) {
|
||||
vTaskDelayUntil(&xLastWakeTime, interval);
|
||||
}
|
||||
|
||||
/* Enter the loop that defines the task behavior. */
|
||||
for (;;) {
|
||||
//The component for this slot is executed and the next one is chosen.
|
||||
this->pst.executeAndAdvance();
|
||||
if (not pst.slotFollowsImmediately()) {
|
||||
// Get the interval till execution of the next slot.
|
||||
intervalMs = this->pst.getIntervalToPreviousSlotMs();
|
||||
interval = pdMS_TO_TICKS(intervalMs);
|
||||
|
||||
checkMissedDeadline(xLastWakeTime, interval);
|
||||
|
||||
// Wait for the interval. This exits immediately if a deadline was
|
||||
// missed while also updating the last wake time.
|
||||
vTaskDelayUntil(&xLastWakeTime, interval);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
|
||||
const TickType_t interval) {
|
||||
/* Check whether deadline was missed while also taking overflows
|
||||
* into account. Drawing this on paper with a timeline helps to understand
|
||||
* it. */
|
||||
TickType_t currentTickCount = xTaskGetTickCount();
|
||||
TickType_t timeToWake = xLastWakeTime + interval;
|
||||
// Time to wake has not overflown.
|
||||
if(timeToWake > xLastWakeTime) {
|
||||
/* If the current time has overflown exclusively or the current
|
||||
* tick count is simply larger than the time to wake, a deadline was
|
||||
* missed */
|
||||
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
|
||||
handleMissedDeadline();
|
||||
}
|
||||
}
|
||||
/* Time to wake has overflown. A deadline was missed if the current time
|
||||
* is larger than the time to wake */
|
||||
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
|
||||
handleMissedDeadline();
|
||||
}
|
||||
}
|
||||
|
||||
void FixedTimeslotTask::handleMissedDeadline() {
|
||||
if(deadlineMissedFunc != nullptr) {
|
||||
this->deadlineMissedFunc();
|
||||
}
|
||||
|
||||
#ifdef DEBUG
|
||||
object_id_t handlerId = pst.current->handlerId;
|
||||
sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << " with"
|
||||
<< " object ID 0x" << std::setfill('0') << std::setw(8) << std::hex
|
||||
<< handlerId << " missed deadline!" << std::setfill(' ')
|
||||
<< std::dec << std::endl;
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
|
||||
vTaskDelay(pdMS_TO_TICKS(ms));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
TaskHandle_t FixedTimeslotTask::getTaskHandle() {
|
||||
return handle;
|
||||
}
|
||||
|
||||
@ -1,101 +1,101 @@
|
||||
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
|
||||
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
|
||||
|
||||
#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
|
||||
#include "../../tasks/FixedSlotSequence.h"
|
||||
#include "../../tasks/FixedTimeslotTaskIF.h"
|
||||
#include "../../tasks/Typedef.h"
|
||||
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/task.h>
|
||||
|
||||
class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
|
||||
public:
|
||||
|
||||
/**
|
||||
* Keep in mind that you need to call before vTaskStartScheduler()!
|
||||
* A lot of task parameters are set in "FreeRTOSConfig.h".
|
||||
* @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
|
||||
* @param setPriority Number of priorities specified by
|
||||
* 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_ */
|
||||
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
|
||||
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
|
||||
|
||||
#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
|
||||
#include "../../tasks/FixedSlotSequence.h"
|
||||
#include "../../tasks/FixedTimeslotTaskIF.h"
|
||||
#include "../../tasks/Typedef.h"
|
||||
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/task.h>
|
||||
|
||||
class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
|
||||
public:
|
||||
|
||||
/**
|
||||
* Keep in mind that you need to call before vTaskStartScheduler()!
|
||||
* A lot of task parameters are set in "FreeRTOSConfig.h".
|
||||
* @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
|
||||
* @param setPriority Number of priorities specified by
|
||||
* 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