fsfw/osal/linux/PeriodicPosixTask.cpp

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#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <errno.h>
#include <framework/osal/linux/PeriodicPosixTask.h>
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):PosixThread(name_,priority_,stackSize_),objectList(),started(false),periodMs(period_),deadlineMissedFunc(
deadlineMissedFunc_) {
}
PeriodicPosixTask::~PeriodicPosixTask() {
//Not Implemented
}
void* PeriodicPosixTask::taskEntryPoint(void* arg) {
//The argument is re-interpreted as PollingTask.
PeriodicPosixTask *originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
//The task's functionality is called.
originalTask->taskFunctionality();
return NULL;
}
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
return PosixThread::sleep((uint64_t)ms*1000000);
}
ReturnValue_t PeriodicPosixTask::startTask(void){
started = true;
createTask(&taskEntryPoint,this);
return HasReturnvaluesIF::RETURN_OK;
}
void PeriodicPosixTask::taskFunctionality(void){
if(!started){
suspend();
}
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
//The task's "infinite" inner loop is entered.
while (1) {
for (ObjectList::iterator it = objectList.begin();
it != objectList.end(); ++it) {
(*it)->performOperation();
}
if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
char name[20] = {0};
int status = pthread_getname_np(pthread_self(),name,sizeof(name));
if(status==0){
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sif::error << "ObjectTask: " << name << " Deadline missed." << std::endl;
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}else{
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sif::error << "ObjectTask: X Deadline missed. " << status << std::endl;
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}
if (this->deadlineMissedFunc != NULL) {
this->deadlineMissedFunc();
}
}
}
}
uint32_t PeriodicPosixTask::getPeriodMs() const {
return periodMs;
}