44 lines
1.3 KiB
C++
44 lines
1.3 KiB
C++
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include "TaskBase.h"
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const uint64_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE;
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TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
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const char *name) {
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rtems_name osalName = 0;
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for (uint8_t i = 0; i < 4; i++) {
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if (name[i] == 0) {
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break;
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}
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osalName += name[i] << (8 * (3 - i));
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}
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//The task is created with the operating system's system call.
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rtems_status_code status = RTEMS_UNSATISFIED;
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if (set_priority >= 0 && set_priority <= 99) {
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status = rtems_task_create(osalName,
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(0xFF - 2 * set_priority), stack_size,
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RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR,
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RTEMS_FLOATING_POINT, &id);
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}
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ReturnValue_t result = RtemsBasic::convertReturnCode(status);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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error << "TaskBase::TaskBase: createTask with name " << std::hex
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<< osalName << std::dec << " failed with return code "
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<< (uint32_t) status << std::endl;
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this->id = 0;
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}
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}
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TaskBase::~TaskBase() {
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rtems_task_delete(id);
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}
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rtems_id TaskBase::getId() {
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return this->id;
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}
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ReturnValue_t TaskBase::sleepFor(uint32_t ms) {
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rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
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return RtemsBasic::convertReturnCode(status);
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}
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