Today's the day. Renamed platform to framework.

2016-06-15 23:48:41 +02:00
parent 40987d0b27
commit 1d22a6c97e
356 changed files with 33946 additions and 3 deletions
@@ -0,0 +1,81 @@
+/**
+ * \file PeriodicTask.cpp
+ *
+ * \brief This file contains the implementation for the PeriodicTask class.
+ *
+ * \author Bastian Baetz
+ *
+ * \date 21.07.2010
+ *
+ * Copyright 2010, Bastian Baetz <bastianbaetz@homail.com>
+ * 	All rights reserved
+ *
+ */
+
+//#include <framework/osal/object_manager.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/PeriodicTask.h>
+
+//TODO: Check if isRunning flag is useful. Shall tasks be restartable?
+TaskReturn_t PeriodicTask::taskEntryPoint( TaskArgument_t argument ) {
+
+	//The argument is re-interpreted as PeriodicTask
+	PeriodicTask *originalTask( reinterpret_cast<PeriodicTask*>(argument) );
+	originalTask->taskFunctionality();
+	debug << "Object task " << originalTask->getId() << " returned from taskFunctionality." << std::endl;
+	//TODO: destroy the task object?
+}
+
+PeriodicTask::PeriodicTask( const char *name, TaskPriority_t setPriority, size_t setStack, Interval_t setPeriod,
+		void (*setDeadlineMissedFunc)(), ReturnValue_t ( *setTaskFunction )(  TaskBase* ) ) :
+			TaskBase( setPriority, setStack, name ), period(setPeriod), periodId(0), deadlineMissedFunc(setDeadlineMissedFunc),
+			taskFunction(setTaskFunction) {
+}
+
+PeriodicTask::~PeriodicTask() {
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	debug << "PeriodicTask::startTask. TaskId: " << this->getId() << std::endl;
+	this->setRunning( true );
+	ReturnValue_t status;
+	status = OSAL::startTask( &( this->id ), PeriodicTask::taskEntryPoint, TaskArgument_t( ( void *)this ) );
+	if( status != RETURN_OK ) {
+		//TODO: Call any FDIR routine?
+		error << "PeriodicTask::startTask for " << this->getId() << " failed." << std::endl;
+	} else {
+		debug << "PeriodicTask::startTask for "   << this->getId() << " successful" << std::endl;
+	}
+	return status;
+}
+
+void PeriodicTask::taskFunctionality() {
+
+	ReturnValue_t status = RETURN_OK;
+
+	//The period is set up and started with the system call.
+	status = OSAL::setAndStartPeriod( this->period, &(this->periodId) );
+	if( status == RETURN_OK ) {
+		//The task's "infinite" inner loop is entered.
+		while( this->isRunning ) {
+			//If a functionality is announced, it is started.
+			if( this->taskFunction != NULL ) {
+				this->taskFunction( this );
+			}
+			//The period is checked and restarted.
+			//If the deadline was missed, the deadlineMissedFunc is called.
+			if( OSAL::checkAndRestartPeriod( this->periodId, this->period ) == OSAL::TIMEOUT ) {
+				error << "PeriodicTask: " << std::hex << this->getId() << " Deadline missed." << std::endl;
+				if( this->deadlineMissedFunc != NULL ) {
+					this->deadlineMissedFunc();
+				}
+			}
+		}
+		debug << "Returned from taskFunctionality()-Loop." << std::endl;
+	} else {
+		error << "PeriodicTask::setAndStartPeriod failed with status " << status << std::endl;
+	}
+	//Any operating system object for periodic execution is deleted.
+	debug << "Deleting the PeriodicThread's period." << std::endl;
+	OSAL::deletePeriod( &(this->id) );
+}