55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
#include "PeriodicPosixTask.h"
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#include "fsfw/serviceinterface.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
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TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
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: PeriodicTaskBase(period_, dlmFunc_),
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posixThread(name_, priority_, stackSize_),
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started(false) {}
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void* PeriodicPosixTask::taskEntryPoint(void* arg) {
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// The argument is re-interpreted as PollingTask.
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auto* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
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// The task's functionality is called.
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originalTask->taskFunctionality();
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return nullptr;
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}
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ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
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return PosixThread::sleep(static_cast<uint64_t>(ms) * 1000000);
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}
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ReturnValue_t PeriodicPosixTask::startTask() {
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if (isEmpty()) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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started = true;
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posixThread.createTask(&taskEntryPoint, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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[[noreturn]] void PeriodicPosixTask::taskFunctionality() {
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if (not started) {
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posixThread.suspend();
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}
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initObjsAfterTaskCreation();
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uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
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uint64_t periodMs = getPeriodMs();
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// The task's "infinite" inner loop is entered.
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while (true) {
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for (auto const& objOpCodePair : objectList) {
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objOpCodePair.first->performOperation(objOpCodePair.second);
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}
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if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
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if (dlmFunc != nullptr) {
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dlmFunc();
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}
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}
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}
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}
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