115 lines
4.1 KiB
C++
115 lines
4.1 KiB
C++
#include "fsfw/osal/freertos/FixedTimeslotTask.h"
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#include "fsfw/serviceinterface.h"
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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 period,
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TaskDeadlineMissedFunction dlmFunc_)
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: FixedTimeslotTaskBase(period, dlmFunc_), started(false), handle(nullptr) {
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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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}
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FixedTimeslotTask::~FixedTimeslotTask() = default;
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void FixedTimeslotTask::taskEntryPoint(void* argument) {
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// The argument is re-interpreted as FixedTimeslotTask. The Task object is
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// global, so it is found from any place.
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auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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/* Task should not start until explicitly requested,
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* but in FreeRTOS, tasks start as soon as they are created if the scheduler
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* is running but not if the scheduler is not running.
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* To be able to accommodate both cases we check a member which is set in
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* #startTask(). If it is not set and we get here, the scheduler was started
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* before #startTask() was called and we need to suspend if it is set,
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* the scheduler was not running before #startTask() was called and we
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* can continue */
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if (not originalTask->started) {
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vTaskSuspend(nullptr);
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}
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originalTask->taskFunctionality();
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
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<< std::endl;
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#else
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sif::printDebug("Polling task returned from taskFunctionality\n");
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#endif
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}
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ReturnValue_t FixedTimeslotTask::startTask() {
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started = true;
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// We must not call resume if scheduler is not started yet
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskResume(handle);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
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// A local iterator for the Polling Sequence Table is created to find the
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// start time for the first entry.
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auto slotListIter = pollingSeqTable.current;
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pollingSeqTable.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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TickType_t xLastWakeTime;
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/* The xLastWakeTime variable needs to be initialized with the current tick
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count. Note that this is the only time the variable is written to
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explicitly. After this assignment, xLastWakeTime is updated automatically
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internally within vTaskDelayUntil(). */
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xLastWakeTime = xTaskGetTickCount();
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// wait for first entry's start time
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if (interval > 0) {
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vTaskDelayUntil(&xLastWakeTime, interval);
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}
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/* Enter the loop that defines the task behavior. */
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for (;;) {
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// The component for this slot is executed and the next one is chosen.
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this->pollingSeqTable.executeAndAdvance();
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if (not pollingSeqTable.slotFollowsImmediately()) {
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// Get the interval till execution of the next slot.
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intervalMs = this->pollingSeqTable.getIntervalToPreviousSlotMs();
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interval = pdMS_TO_TICKS(intervalMs);
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#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
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BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, interval);
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if (wasDelayed == pdFALSE) {
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handleMissedDeadline();
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}
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#else
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if (checkMissedDeadline(xLastWakeTime, interval)) {
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handleMissedDeadline();
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}
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// Wait for the interval. This exits immediately if a deadline was
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// missed while also updating the last wake time.
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vTaskDelayUntil(&xLastWakeTime, interval);
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#endif
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}
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}
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}
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void FixedTimeslotTask::handleMissedDeadline() {
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if (dlmFunc != nullptr) {
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dlmFunc();
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}
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}
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ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
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vTaskDelay(pdMS_TO_TICKS(ms));
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return HasReturnvaluesIF::RETURN_OK;
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}
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TaskHandle_t FixedTimeslotTask::getTaskHandle() { return handle; }
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