79 lines
3.1 KiB
C++
79 lines
3.1 KiB
C++
/*
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* ObjectTask.cpp
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*
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* Created on: 03.02.2012
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* Author: baetz
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*/
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <framework/tasks/ObjectTask.h>
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ObjectTask::ObjectTask( const char *name, TaskPriority_t setPriority, size_t setStack, Interval_t setPeriod, void (*setDeadlineMissedFunc)(), ExecutableObjectIF* (*initFunction)() ) :
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TaskBase( setPriority, setStack, name ), period(setPeriod), periodId(0), deadlineMissedFunc(setDeadlineMissedFunc) {
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// All additional attributes are applied to the object.
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this->executingObject = initFunction();
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}
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ObjectTask::ObjectTask(const char *name, TaskPriority_t setPriority, size_t setStack,
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Interval_t setPeriod, void (*setDeadlineMissedFunc)(),
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object_id_t object_id) : TaskBase( setPriority, setStack, name ), period(setPeriod), periodId(0), deadlineMissedFunc(setDeadlineMissedFunc) {
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this->executingObject = objectManager->get<ExecutableObjectIF>( object_id );
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}
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ObjectTask::~ObjectTask() {
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}
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TaskReturn_t ObjectTask::taskEntryPoint( TaskArgument_t argument ) {
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//The argument is re-interpreted as ObjectTask. The Task object is global, so it is found from any place.
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ObjectTask *originalTask( reinterpret_cast<ObjectTask*>( argument ) );
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originalTask->taskFunctionality();
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debug << "Object task " << originalTask->getId() << " returned from taskFunctionality. Deleting task." << std::endl;
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//TODO: destroy the task object?
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}
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ReturnValue_t ObjectTask::startTask() {
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this->setRunning( true );
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ReturnValue_t status;
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status = OSAL::startTask( &( this->id ), ObjectTask::taskEntryPoint, TaskArgument_t( ( void *)this ) );
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if( status != RETURN_OK ) {
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//TODO: Call any FDIR routine?
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error << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec << " failed." << std::endl;
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} else {
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// debug << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec << " successful" << std::endl;
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}
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return status;
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}
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void ObjectTask::taskFunctionality() {
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ReturnValue_t status = OSAL::TIMEOUT;
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//The period is set up and started with the system call.
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if ( this->executingObject != NULL ) {
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status = OSAL::setAndStartPeriod( this->period, &(this->periodId) );
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if( status == RETURN_OK ) {
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//The task's "infinite" inner loop is entered.
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while( this->isRunning ) {
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this->executingObject->performOperation();
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if( OSAL::checkAndRestartPeriod( this->periodId, this->period ) == OSAL::TIMEOUT ) {
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char nameSpace[8] = {0};
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char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace), nameSpace);
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error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
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if( this->deadlineMissedFunc != NULL ) {
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this->deadlineMissedFunc();
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}
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}
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}
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debug << "Returned from taskFunctionality()-Loop." << std::endl;
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} else {
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error << "ObjectTask::setAndStartPeriod failed with status " << status << std::endl;
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}
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} else {
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error << "ObjectTask::taskFunctionality. Object not found." << std::endl;
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}
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//Any operating system object for periodic execution is deleted.
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debug << "Deleting the ObjectTask's period." << std::endl;
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OSAL::deletePeriod( &(this->id) );
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}
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