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some fixes and improvements

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This commit is contained in:
Robin Müller 2020-06-22 20:21:11 +02:00
parent ffe2a7bffe
commit 2cada2df4a
1 changed files with 12 additions and 16 deletions
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26
osal/FreeRTOS/FixedTimeslotTask.cpp
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@ -62,11 +62,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) { if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
if(slotTimeMs == 0) {
// FreeRTOS throws a sanity error for zero values, so we set
// the time to one millisecond.
slotTimeMs = 1;
}
pst.addSlot(componentId, slotTimeMs, executionStep, this); pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
@ -87,7 +82,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
void FixedTimeslotTask::taskFunctionality() { void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the // A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry. // start time for the first entry.
std::list<FixedSequenceSlot*>::iterator slotListIter = pst.current; auto slotListIter = pst.current;
//The start time for the first entry is read. //The start time for the first entry is read.
uint32_t intervalMs = (*slotListIter)->pollingTimeMs; uint32_t intervalMs = (*slotListIter)->pollingTimeMs;
@ -101,18 +96,23 @@ void FixedTimeslotTask::taskFunctionality() {
xLastWakeTime = xTaskGetTickCount(); xLastWakeTime = xTaskGetTickCount();
// wait for first entry's start time // wait for first entry's start time
if(interval > 0) {
vTaskDelayUntil(&xLastWakeTime, interval); vTaskDelayUntil(&xLastWakeTime, interval);
}
/* Enter the loop that defines the task behavior. */ /* Enter the loop that defines the task behavior. */
for (;;) { for (;;) {
//The component for this slot is executed and the next one is chosen. //The component for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance(); this->pst.executeAndAdvance();
if (not pst.slotFollowsImmediately()) { if (not pst.slotFollowsImmediately()) {
// Get the interval till execution of the next slot.
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
/* If all operations are finished and the difference of the /* If all operations are finished and the difference of the
* current time minus the last wake time is larger than the * current time minus the last wake time is larger than the
* expected wait period, a deadline was missed. */ * expected wait period, a deadline was missed. */
if(xTaskGetTickCount() - xLastWakeTime >= if(xTaskGetTickCount() - xLastWakeTime >= interval) {
pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
#ifdef DEBUG #ifdef DEBUG
sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush; " missed deadline!\n" << std::flush;
@ -120,14 +120,9 @@ void FixedTimeslotTask::taskFunctionality() {
if(deadlineMissedFunc != nullptr) { if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc(); this->deadlineMissedFunc();
} }
// Continue immediately, no need to wait.
continue;
} }
// Wait for the interval. This exits immediately if a deadline was
// we need to wait before executing the current slot // missed while also updating the last wake time.
//this gives us the time to wait:
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
vTaskDelayUntil(&xLastWakeTime, interval); vTaskDelayUntil(&xLastWakeTime, interval);
} }
} }
@ -137,3 +132,4 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
vTaskDelay(pdMS_TO_TICKS(ms)); vTaskDelay(pdMS_TO_TICKS(ms));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }