2021-07-14 10:50:44 +02:00
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#include "fsfw/osal/rtems/PeriodicTask.h"
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2021-01-28 11:28:28 +01:00
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2021-07-14 10:50:44 +02:00
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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2021-01-28 11:28:28 +01:00
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PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
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size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
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RTEMSTaskBase(setPriority, setStack, name),
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periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
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deadlineMissedFunc(setDeadlineMissedFunc) {
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}
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PeriodicTask::~PeriodicTask(void) {
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/* Do not delete objects, we were responsible for pointers only. */
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rtems_rate_monotonic_delete(periodId);
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}
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rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
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/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
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so it is found from any place. */
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PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
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return originalTask->taskFunctionality();;
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}
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ReturnValue_t PeriodicTask::startTask() {
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rtems_status_code status = rtems_task_start(id, PeriodicTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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#endif
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}
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switch(status){
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case RTEMS_SUCCESSFUL:
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/* Task started successfully */
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return HasReturnvaluesIF::RETURN_OK;
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default:
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/* RTEMS_INVALID_ADDRESS - invalid task entry point
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RTEMS_INVALID_ID - invalid task id
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RTEMS_INCORRECT_STATE - task not in the dormant state
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RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
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return RTEMSTaskBase::sleepFor(ms);
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}
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void PeriodicTask::taskFunctionality() {
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RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId);
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for (const auto& object: objectList) {
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object->initializeAfterTaskCreation();
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}
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/* The task's "infinite" inner loop is entered. */
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while (1) {
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for (const auto& object: objectList) {
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object->performOperation();
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}
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rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId);
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if (status == RTEMS_TIMEOUT) {
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if (this->deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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}
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}
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}
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ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
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2021-06-05 19:52:38 +02:00
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ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
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2021-01-28 11:28:28 +01:00
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if (newObject == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back(newObject);
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newObject->setTaskIF(this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PeriodicTask::getPeriodMs() const {
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return RtemsBasic::convertTicksToMs(periodTicks);
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}
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