timeslot update for FreeRTOS

This commit is contained in:
Robin Müller 2020-08-27 16:05:31 +02:00
parent 9465c8f2b2
commit 66cf2d3559
7 changed files with 647 additions and 619 deletions

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@ -1,20 +0,0 @@
/**
* @file PollingSlot.cpp
* @brief This file defines the PollingSlot class.
* @date 19.12.2012
* @author baetz
*/
#include "FixedSequenceSlot.h"
#include "../objectmanager/SystemObjectIF.h"
#include <cstddef>
FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
int8_t setSequenceId, PeriodicTaskIF* executingTask) :
handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
handler = objectManager->get<ExecutableObjectIF>(handlerId);
handler->setTaskIF(executingTask);
}
FixedSequenceSlot::~FixedSequenceSlot() {}

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@ -8,7 +8,7 @@ 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(NULL), pst(overallPeriod * 1000) {
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.
@ -62,8 +62,10 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, this);
ExecutableObjectIF* handler =
objectManager->get<ExecutableObjectIF>(componentId);
if (handler != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
return HasReturnvaluesIF::RETURN_OK;
}
@ -85,6 +87,8 @@ void FixedTimeslotTask::taskFunctionality() {
// 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);

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@ -1,12 +1,11 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include "FreeRTOSTaskIF.h"
#include "../../devicehandlers/FixedSlotSequence.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>
@ -99,4 +98,4 @@ protected:
void handleMissedDeadline();
};
#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */
#endif /* POLLINGTASK_H_ */

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@ -0,0 +1,17 @@
#include "FixedSequenceSlot.h"
#include "../objectmanager/SystemObjectIF.h"
#include <cstddef>
FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
int8_t setSequenceId, ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask) :
pollingTimeMs(setTime), opcode(setSequenceId) {
if(executableObject == nullptr) {
return;
}
this->executableObject = executableObject;
this->executableObject->setTaskIF(executingTask);
}
FixedSequenceSlot::~FixedSequenceSlot() {}

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@ -1,41 +1,38 @@
/**
* @file FixedSequenceSlot.h
* @brief This file defines the PollingSlot class.
* @date 19.12.2012
* @author baetz
*/
#ifndef FIXEDSEQUENCESLOT_H_
#define FIXEDSEQUENCESLOT_H_
#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
#include "../objectmanager/ObjectManagerIF.h"
#include "../tasks/ExecutableObjectIF.h"
class PeriodicTaskIF;
/**
* @brief This class is the representation of a single polling sequence table entry.
*
* @details The PollingSlot class is the representation of a single polling
* sequence table entry.
* @brief This class is the representation of a single polling sequence
* table entry.
* @details
* The PollingSlot class is the representation of a single polling
* sequence table entry.
* @author baetz
*/
class FixedSequenceSlot {
public:
FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
int8_t setSequenceId, PeriodicTaskIF* executingTask );
int8_t setSequenceId, ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask);
virtual ~FixedSequenceSlot();
/**
* @brief Handler identifies which device handler object is executed in this slot.
* @brief Handler identifies which object is executed in this slot.
*/
ExecutableObjectIF* handler;
ExecutableObjectIF* executableObject = nullptr;
/**
* @brief This attribute defines when a device handler object is executed.
*
* @details The pollingTime attribute identifies the time the handler is executed in ms.
* It must be smaller than the period length of the polling sequence.
* @details
* The pollingTime attribute identifies the time the handler is
* executed in ms. It must be smaller than the period length of the
* polling sequence.
*/
uint32_t pollingTimeMs;
uint32_t pollingTimeMs;
/**
* @brief This value defines the type of device communication.
@ -43,7 +40,7 @@ public:
* @details The state of this value decides what communication routine is
* called in the PST executable or the device handler object.
*/
uint8_t opcode;
uint8_t opcode;
/**
* @brief Operator overload for the comparison operator to

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@ -1,5 +1,6 @@
#include "FixedSlotSequence.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include <cstdlib>
FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
lengthMs(setLengthMs) {
@ -12,7 +13,7 @@ FixedSlotSequence::~FixedSlotSequence() {
}
void FixedSlotSequence::executeAndAdvance() {
current->handler->performOperation(current->opcode);
current->executableObject->performOperation(current->opcode);
// if (returnValue != RETURN_OK) {
// this->sendErrorMessage( returnValue );
// }
@ -80,34 +81,41 @@ uint32_t FixedSlotSequence::getLengthMs() const {
return this->lengthMs;
}
void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep, ExecutableObjectIF* executableObject,
PeriodicTaskIF* executingTask) {
this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
executionStep, executableObject, executingTask));
this->current = slotList.begin();
}
ReturnValue_t FixedSlotSequence::checkSequence() const {
if(slotList.empty()) {
sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
auto slotIt = slotList.begin();
uint32_t count = 0;
uint32_t time = 0;
while (slotIt != slotList.end()) {
if (slotIt->handler == nullptr) {
sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
<< std::endl;
for(const auto& slot: slotList) {
if (slot.executableObject == nullptr) {
count++;
} else if (slotIt->pollingTimeMs < time) {
sif::error << "FixedSlotSequence::initialize: Time: "
<< slotIt->pollingTimeMs
<< " is smaller than previous with " << time << std::endl;
count++;
} else {
// All ok, print slot.
//info << "Current slot polling time: " << std::endl;
//info << std::dec << slotIt->pollingTimeMs << std::endl;
}
time = slotIt->pollingTimeMs;
slotIt++;
else if (slot.pollingTimeMs < time) {
sif::error << "FixedSlotSequence::initialize: Time: "
<< slot.pollingTimeMs << " is smaller than previous with "
<< time << std::endl;
count++;
}
else {
// All ok, print slot.
//sif::info << "Current slot polling time: " << std::endl;
//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
}
time = slot.pollingTimeMs;
}
//info << "Number of elements in slot list: "
//sif::info << "Number of elements in slot list: "
// << slotList.size() << std::endl;
if (count > 0) {
return HasReturnvaluesIF::RETURN_FAILED;
@ -115,9 +123,25 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
return HasReturnvaluesIF::RETURN_OK;
}
void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep, PeriodicTaskIF* executingTask) {
this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
executingTask));
this->current = slotList.begin();
ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
std::set<ExecutableObjectIF*> uniqueObjects;
uint32_t count = 0;
for(const auto& slot: slotList) {
// Ensure that each unique object is initialized once.
if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
ReturnValue_t result =
slot.executableObject->initializeAfterTaskCreation();
if(result != HasReturnvaluesIF::RETURN_OK) {
count++;
}
uniqueObjects.emplace(slot.executableObject);
}
}
if (count > 0) {
sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
"Counted " << count << " failed initializations!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

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@ -1,13 +1,13 @@
#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
#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.
@ -59,7 +59,7 @@ public:
* @param
*/
void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
PeriodicTaskIF* executingTask);
ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
/**
* Checks if the current slot shall be executed immediately after the one before.
@ -125,12 +125,17 @@ public:
SlotListIter current;
/**
* Iterate through slotList and check successful creation.
* @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:
/**
@ -147,6 +152,8 @@ protected:
SlotList slotList;
uint32_t lengthMs;
bool isEmpty = false;
};
#endif /* FIXEDSLOTSEQUENCE_H_ */