timeslot update for FreeRTOS

tasks/FixedSlotSequence.h

@@ -0,0 +1,159 @@
+#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+
+#include "FixedSequenceSlot.h"
+#include "../objectmanager/SystemObject.h"
+
+#include <set>
+
+/**
+ * @brief	This class is the representation of a Polling Sequence Table in software.
+ * @details
+ * The FixedSlotSequence object maintains the dynamic execution of
+ * device handler objects.
+ *
+ * The main idea is to create a list of device handlers, to announce all
+ * handlers to thepolling sequence and to maintain a list of
+ * polling slot objects. This slot list represents the Polling Sequence Table
+ * in software.
+ *
+ * Each polling slot contains information to indicate when and
+ * which device handler shall be executed within a given polling period.
+ * The sequence is then executed by iterating through this slot list.
+ * Handlers are invoking by calling a certain function stored in the handler list.
+ */
+class FixedSlotSequence {
+public:
+	using SlotList = std::multiset<FixedSequenceSlot>;
+	using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
+
+	/**
+	 * @brief	The constructor of the FixedSlotSequence object.
+	 *
+	 * @details	The constructor takes two arguments, the period length and the init function.
+	 *
+	 * @param	setLength	The period length, expressed in ms.
+	 */
+	FixedSlotSequence(uint32_t setLengthMs);
+
+	/**
+	 * @brief	The destructor of the FixedSlotSequence object.
+	 *
+	 * @details	The destructor frees all allocated memory by iterating through the slotList
+	 *  		and deleting all allocated resources.
+	 */
+	virtual ~FixedSlotSequence();
+
+	/**
+	 * @brief	This is a method to add an PollingSlot object to slotList.
+	 *
+	 * @details	Here, a polling slot object is added to the slot list. It is appended
+	 * 			to the end of the list. The list is currently NOT reordered.
+	 * 			Afterwards, the iterator current is set to the beginning of the list.
+	 * 	@param Object ID of the object to add
+	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
+	 * 				   will be called inside the slot period.
+	 * 	@param setSequenceId ID which can be used to distinguish
+	 * 	                     different task operations
+	 * 	@param
+	 * 	@param
+	 */
+	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
+			ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
+
+	/**
+	 * Checks if the current slot shall be executed immediately after the one before.
+	 * This allows to distinguish between grouped and not grouped handlers.
+	 * @return 	- @c true if the slot has the same polling time as the previous
+	 * 			- @c false else
+	 */
+	bool slotFollowsImmediately();
+
+	/**
+	 * @brief	This method returns the time until the next software
+	 * 			component is invoked.
+	 *
+	 * @details
+	 * This method is vitally important for the operation of the PST.
+	 * By fetching the polling time of the current slot and that of the
+	 * next one (or the first one, if the list end is reached)
+	 * it calculates and returns the interval in milliseconds within
+	 * which the handler execution shall take place.
+	 * If the next slot has the same time as the current one, it is ignored
+	 * until a slot with different time or the end of the PST is found.
+	 */
+	uint32_t getIntervalToNextSlotMs();
+
+	/**
+	 * @brief	This method returns the time difference between the current
+	 * 			slot and the previous slot
+	 *
+	 * @details
+	 * This method is vitally important for the operation of the PST.
+	 * By fetching the polling time of the current slot and that of the previous
+	 * one (or the last one, if the slot is the first one) it calculates and
+	 * returns the interval in milliseconds that the handler execution shall
+	 * be delayed.
+	 */
+	uint32_t getIntervalToPreviousSlotMs();
+
+	/**
+	 * @brief	This method returns the length of this FixedSlotSequence instance.
+	 */
+	uint32_t getLengthMs() const;
+
+	/**
+	 * @brief	The method to execute the device handler entered in the current
+	 * 			PollingSlot object.
+	 *
+	 * @details
+	 * Within this method the device handler object to be executed is chosen by
+	 * looking up the handler address of the current slot in the handlerMap.
+	 * Either the device handler's talkToInterface or its listenToInterface
+	 * method is invoked, depending on the isTalking flag of the polling slot.
+	 * After execution the iterator current is increased or, by reaching the
+	 * end of slotList, reset to the beginning.
+	 */
+	void executeAndAdvance();
+
+	/**
+	 * @brief	An iterator that indicates the current polling slot to execute.
+	 *
+	 * @details	This is an iterator for slotList and always points to the
+	 * 			polling slot which is executed next.
+	 */
+	SlotListIter current;
+
+	/**
+	 * @brief   Check and initialize slot list.
+	 * @details
+	 * Checks if timing is ok (must be ascending) and if all handlers were found.
+	 * Also calls any initialization steps which are required after task
+	 * creation.
+	 * @return
+	 */
+	ReturnValue_t checkSequence() const;
+
+	ReturnValue_t intializeSequenceAfterTaskCreation() const;
+
+protected:
+
+	/**
+	 * @brief	This list contains all PollingSlot objects, defining order and
+	 * 			execution time of the device handler objects.
+	 *
+	 * @details
+	 * The slot list is a std:list object that contains all created
+	 * PollingSlot instances. They are NOT ordered automatically, so by
+	 * adding entries, the correct order needs to be ensured. By iterating
+	 * through this list the polling sequence is executed. Two entries with
+	 * identical polling times are executed immediately one after another.
+	 */
+	SlotList slotList;
+
+	uint32_t lengthMs;
+
+	bool isEmpty = false;
+};
+
+#endif /* FIXEDSLOTSEQUENCE_H_ */