fsfw/src/osal/rtems/PeriodicTask.cpp

#include "PeriodicTask.h"

#include "../../serviceinterface/ServiceInterface.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../tasks/ExecutableObjectIF.h"

PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
        size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
        RTEMSTaskBase(setPriority, setStack, name),
        periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
        deadlineMissedFunc(setDeadlineMissedFunc) {
}

PeriodicTask::~PeriodicTask(void) {
    /* Do not delete objects, we were responsible for pointers only. */
    rtems_rate_monotonic_delete(periodId);
}

rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
    /* The argument is re-interpreted as MultiObjectTask. The Task object is global,
    so it is found from any place. */
    PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
    return originalTask->taskFunctionality();;
}

ReturnValue_t PeriodicTask::startTask() {
    rtems_status_code status = rtems_task_start(id, PeriodicTask::taskEntryPoint,
            rtems_task_argument((void *) this));
    if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
				        << std::dec << " failed." << std::endl;
#endif
    }
    switch(status){
    case RTEMS_SUCCESSFUL:
        /* Task started successfully */
        return HasReturnvaluesIF::RETURN_OK;
    default:
        /* RTEMS_INVALID_ADDRESS - invalid task entry point
		RTEMS_INVALID_ID - invalid task id
		RTEMS_INCORRECT_STATE - task not in the dormant state
		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
        return HasReturnvaluesIF::RETURN_FAILED;
    }
}

ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
    return RTEMSTaskBase::sleepFor(ms);
}

void PeriodicTask::taskFunctionality() {
    RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId);
    for (const auto& object: objectList) {
        object->initializeAfterTaskCreation();
    }
    /* The task's "infinite" inner loop is entered. */
    while (1) {
        for (const auto& object: objectList) {
            object->performOperation();
        }
        rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId);
        if (status == RTEMS_TIMEOUT) {
            if (this->deadlineMissedFunc != nullptr) {
                this->deadlineMissedFunc();
            }
        }
    }
}

ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
    ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
    if (newObject == nullptr) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    objectList.push_back(newObject);
    newObject->setTaskIF(this);

    return HasReturnvaluesIF::RETURN_OK;
}

uint32_t PeriodicTask::getPeriodMs() const {
    return RtemsBasic::convertTicksToMs(periodTicks);
}