104 lines
3.6 KiB
C++
104 lines
3.6 KiB
C++
#include "fsfw/osal/freertos/PeriodicTask.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
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TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
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: PeriodicTaskBase(setPeriod, dlmFunc_), started(false), handle(nullptr) {
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configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
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BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
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if (status != pdPASS) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "PeriodicTask::PeriodicTask Insufficient heap memory remaining. Status: "
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<< status << std::endl;
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#else
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sif::printDebug("PeriodicTask::PeriodicTask: Insufficient heap memory remaining. Status: %d\n",
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status);
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#endif
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}
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}
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// Do not delete objects, we were responsible for ptrs only.
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PeriodicTask::~PeriodicTask() = default;
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void PeriodicTask::taskEntryPoint(void* argument) {
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// The argument is re-interpreted as PeriodicTask. The Task object is
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// global, so it is found from any place.
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auto* originalTask(reinterpret_cast<PeriodicTask*>(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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#endif
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}
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ReturnValue_t PeriodicTask::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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ReturnValue_t PeriodicTask::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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[[noreturn]] void PeriodicTask::taskFunctionality() {
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TickType_t xLastWakeTime;
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const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
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initObjsAfterTaskCreation();
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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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/* Enter the loop that defines the task behavior. */
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for (;;) {
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for (auto const& objectPair : objectList) {
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objectPair.first->performOperation(objectPair.second);
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}
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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, xPeriod);
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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, xPeriod)) {
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handleMissedDeadline();
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}
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vTaskDelayUntil(&xLastWakeTime, xPeriod);
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#endif
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}
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}
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TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
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void PeriodicTask::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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