timeslot update for FreeRTOS
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@ -1,20 +0,0 @@
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/**
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* @file PollingSlot.cpp
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* @brief This file defines the PollingSlot class.
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* @date 19.12.2012
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* @author baetz
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*/
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#include "FixedSequenceSlot.h"
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#include "../objectmanager/SystemObjectIF.h"
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#include <cstddef>
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FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
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int8_t setSequenceId, PeriodicTaskIF* executingTask) :
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handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
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handler = objectManager->get<ExecutableObjectIF>(handlerId);
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handler->setTaskIF(executingTask);
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}
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FixedSequenceSlot::~FixedSequenceSlot() {}
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@ -8,7 +8,7 @@ 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(NULL), pst(overallPeriod * 1000) {
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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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@ -62,8 +62,10 @@ ReturnValue_t FixedTimeslotTask::startTask() {
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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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if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, this);
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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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@ -85,6 +87,8 @@ void FixedTimeslotTask::taskFunctionality() {
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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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@ -1,12 +1,11 @@
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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 "FreeRTOSTaskIF.h"
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#include "../../devicehandlers/FixedSlotSequence.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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@ -99,4 +98,4 @@ protected:
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void handleMissedDeadline();
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */
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#endif /* POLLINGTASK_H_ */
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17
tasks/FixedSequenceSlot.cpp
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17
tasks/FixedSequenceSlot.cpp
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@ -0,0 +1,17 @@
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#include "FixedSequenceSlot.h"
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#include "../objectmanager/SystemObjectIF.h"
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#include <cstddef>
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FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
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int8_t setSequenceId, ExecutableObjectIF* executableObject,
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PeriodicTaskIF* executingTask) :
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pollingTimeMs(setTime), opcode(setSequenceId) {
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if(executableObject == nullptr) {
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return;
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}
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this->executableObject = executableObject;
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this->executableObject->setTaskIF(executingTask);
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}
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FixedSequenceSlot::~FixedSequenceSlot() {}
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@ -1,41 +1,38 @@
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/**
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* @file FixedSequenceSlot.h
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* @brief This file defines the PollingSlot class.
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* @date 19.12.2012
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* @author baetz
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*/
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#ifndef FIXEDSEQUENCESLOT_H_
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#define FIXEDSEQUENCESLOT_H_
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#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
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#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
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#include "../objectmanager/ObjectManagerIF.h"
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#include "../tasks/ExecutableObjectIF.h"
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class PeriodicTaskIF;
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/**
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* @brief This class is the representation of a single polling sequence table entry.
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*
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* @details The PollingSlot class is the representation of a single polling
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* sequence table entry.
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* @brief This class is the representation of a single polling sequence
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* table entry.
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* @details
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* The PollingSlot class is the representation of a single polling
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* sequence table entry.
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* @author baetz
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*/
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class FixedSequenceSlot {
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public:
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FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
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int8_t setSequenceId, PeriodicTaskIF* executingTask );
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int8_t setSequenceId, ExecutableObjectIF* executableObject,
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PeriodicTaskIF* executingTask);
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virtual ~FixedSequenceSlot();
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/**
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* @brief Handler identifies which device handler object is executed in this slot.
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* @brief Handler identifies which object is executed in this slot.
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*/
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ExecutableObjectIF* handler;
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ExecutableObjectIF* executableObject = nullptr;
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/**
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* @brief This attribute defines when a device handler object is executed.
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*
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* @details The pollingTime attribute identifies the time the handler is executed in ms.
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* It must be smaller than the period length of the polling sequence.
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* @details
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* The pollingTime attribute identifies the time the handler is
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* executed in ms. It must be smaller than the period length of the
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* polling sequence.
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*/
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uint32_t pollingTimeMs;
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uint32_t pollingTimeMs;
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/**
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* @brief This value defines the type of device communication.
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@ -43,7 +40,7 @@ public:
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* @details The state of this value decides what communication routine is
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* called in the PST executable or the device handler object.
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*/
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uint8_t opcode;
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uint8_t opcode;
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/**
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* @brief Operator overload for the comparison operator to
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@ -1,5 +1,6 @@
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#include "FixedSlotSequence.h"
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#include "../serviceinterface/ServiceInterfaceStream.h"
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#include <cstdlib>
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FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
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lengthMs(setLengthMs) {
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@ -12,7 +13,7 @@ FixedSlotSequence::~FixedSlotSequence() {
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}
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void FixedSlotSequence::executeAndAdvance() {
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current->handler->performOperation(current->opcode);
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current->executableObject->performOperation(current->opcode);
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// if (returnValue != RETURN_OK) {
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// this->sendErrorMessage( returnValue );
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// }
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@ -80,34 +81,41 @@ uint32_t FixedSlotSequence::getLengthMs() const {
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return this->lengthMs;
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}
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void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep, ExecutableObjectIF* executableObject,
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PeriodicTaskIF* executingTask) {
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this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
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executionStep, executableObject, executingTask));
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this->current = slotList.begin();
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}
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ReturnValue_t FixedSlotSequence::checkSequence() const {
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if(slotList.empty()) {
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sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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auto slotIt = slotList.begin();
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uint32_t count = 0;
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uint32_t time = 0;
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while (slotIt != slotList.end()) {
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if (slotIt->handler == nullptr) {
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sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
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<< std::endl;
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for(const auto& slot: slotList) {
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if (slot.executableObject == nullptr) {
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count++;
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} else if (slotIt->pollingTimeMs < time) {
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sif::error << "FixedSlotSequence::initialize: Time: "
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<< slotIt->pollingTimeMs
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<< " is smaller than previous with " << time << std::endl;
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count++;
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} else {
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// All ok, print slot.
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//info << "Current slot polling time: " << std::endl;
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//info << std::dec << slotIt->pollingTimeMs << std::endl;
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}
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time = slotIt->pollingTimeMs;
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slotIt++;
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else if (slot.pollingTimeMs < time) {
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sif::error << "FixedSlotSequence::initialize: Time: "
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<< slot.pollingTimeMs << " is smaller than previous with "
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<< time << std::endl;
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count++;
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}
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else {
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// All ok, print slot.
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//sif::info << "Current slot polling time: " << std::endl;
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//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
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}
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time = slot.pollingTimeMs;
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}
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//info << "Number of elements in slot list: "
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//sif::info << "Number of elements in slot list: "
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// << slotList.size() << std::endl;
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if (count > 0) {
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return HasReturnvaluesIF::RETURN_FAILED;
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@ -115,9 +123,25 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
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return HasReturnvaluesIF::RETURN_OK;
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}
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void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep, PeriodicTaskIF* executingTask) {
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this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
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executingTask));
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this->current = slotList.begin();
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ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
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std::set<ExecutableObjectIF*> uniqueObjects;
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uint32_t count = 0;
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for(const auto& slot: slotList) {
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// Ensure that each unique object is initialized once.
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if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
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ReturnValue_t result =
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slot.executableObject->initializeAfterTaskCreation();
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if(result != HasReturnvaluesIF::RETURN_OK) {
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count++;
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}
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uniqueObjects.emplace(slot.executableObject);
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}
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}
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if (count > 0) {
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sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
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"Counted " << count << " failed initializations!" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
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#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
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#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
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#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
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#include "FixedSequenceSlot.h"
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#include "../objectmanager/SystemObject.h"
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#include <set>
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/**
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* @brief This class is the representation of a Polling Sequence Table in software.
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*
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* @details
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* The FixedSlotSequence object maintains the dynamic execution of
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* device handler objects.
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@ -59,7 +59,7 @@ public:
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* @param
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*/
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void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
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PeriodicTaskIF* executingTask);
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ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
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/**
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* Checks if the current slot shall be executed immediately after the one before.
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@ -125,12 +125,17 @@ public:
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SlotListIter current;
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/**
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* Iterate through slotList and check successful creation.
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* @brief Check and initialize slot list.
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* @details
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* Checks if timing is ok (must be ascending) and if all handlers were found.
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* Also calls any initialization steps which are required after task
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* creation.
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* @return
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*/
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ReturnValue_t checkSequence() const;
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ReturnValue_t intializeSequenceAfterTaskCreation() const;
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protected:
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/**
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@ -147,6 +152,8 @@ protected:
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SlotList slotList;
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uint32_t lengthMs;
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bool isEmpty = false;
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};
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#endif /* FIXEDSLOTSEQUENCE_H_ */
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