72 lines
2.3 KiB
C++
72 lines
2.3 KiB
C++
#include "PeriodicTaskBase.h"
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#include <set>
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface.h"
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PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
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: period(period_), dlmFunc(dlmFunc_) {
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// Hints at configuration error
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if (PeriodicTaskBase::getPeriodMs() <= 1) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "Passed task period 0 or smaller than 1 ms" << std::endl;
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#else
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sif::printWarning("Passed task period 0 or smaller than 1ms\n");
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#endif
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}
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}
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uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
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bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); }
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ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object) { return addComponent(object, 0); }
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ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object) {
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return addComponent(object, 0);
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}
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ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
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std::set<ExecutableObjectIF*> uniqueObjects;
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ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
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uint32_t count = 0;
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for (const auto& obj : objectList) {
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// Ensure that each unique object is initialized once.
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if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
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ReturnValue_t result = obj.first->initializeAfterTaskCreation();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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count++;
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status = result;
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}
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uniqueObjects.emplace(obj.first);
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}
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}
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if (count > 0) {
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}
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return status;
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}
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ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
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auto* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
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return addComponent(newObject, opCode);
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}
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ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
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if (object == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
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<< " it implements ExecutableObjectIF!" << std::endl;
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#else
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sif::printError(
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"PeriodicTask::addComponent: Invalid object. Make sure it "
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"implements ExecutableObjectIF!\n");
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back({object, opCode});
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object->setTaskIF(this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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