took over changed for fixed slot sequence
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@ -1,7 +1,7 @@
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#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
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#include "FreeRTOSTaskIF.h"
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#include "../../tasks/FixedSlotSequence.h"
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#include "../../tasks/FixedTimeslotTaskIF.h"
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#include "../../tasks/Typedef.h"
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@ -98,4 +98,4 @@ protected:
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void handleMissedDeadline();
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};
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#endif /* POLLINGTASK_H_ */
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#endif /* FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */
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@ -1,5 +1,5 @@
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#include "../objectmanager/SystemObjectIF.h"
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#include "../tasks/FixedSequenceSlot.h"
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#include "FixedSequenceSlot.h"
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#include "PeriodicTaskIF.h"
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#include <cstddef>
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FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
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@ -1,8 +1,9 @@
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#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
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#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
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#ifndef FSFW_TASKS_FIXEDSEQUENCESLOT_H_
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#define FSFW_TASKS_FIXEDSEQUENCESLOT_H_
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#include "ExecutableObjectIF.h"
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#include "../objectmanager/ObjectManagerIF.h"
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#include "../tasks/ExecutableObjectIF.h"
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class PeriodicTaskIF;
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/**
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@ -56,4 +57,4 @@ public:
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};
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#endif /* FIXEDSEQUENCESLOT_H_ */
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#endif /* FSFW_TASKS_FIXEDSEQUENCESLOT_H_ */
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@ -1,5 +1,5 @@
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#include "FixedSlotSequence.h"
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#include "../serviceinterface/ServiceInterfaceStream.h"
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#include "../tasks/FixedSlotSequence.h"
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#include <cstdlib>
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FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
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@ -91,21 +91,31 @@ void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
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ReturnValue_t FixedSlotSequence::checkSequence() const {
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if(slotList.empty()) {
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sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
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sif::error << "FixedSlotSequence::checkSequence:"
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<< " Slot list is empty!" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint32_t count = 0;
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if(customCheckFunction != nullptr) {
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ReturnValue_t result = customCheckFunction(slotList);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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// Continue for now but print error output.
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sif::error << "FixedSlotSequence::checkSequence:"
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<< " Custom check failed!" << std::endl;
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}
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}
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uint32_t errorCount = 0;
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uint32_t time = 0;
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for(const auto& slot: slotList) {
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if (slot.executableObject == nullptr) {
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count++;
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errorCount++;
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}
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else if (slot.pollingTimeMs < time) {
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sif::error << "FixedSlotSequence::initialize: Time: "
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sif::error << "FixedSlotSequence::checkSequence: Time: "
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<< slot.pollingTimeMs << " is smaller than previous with "
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<< time << std::endl;
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count++;
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errorCount++;
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}
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else {
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// All ok, print slot.
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@ -117,7 +127,7 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
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}
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//sif::info << "Number of elements in slot list: "
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// << slotList.size() << std::endl;
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if (count > 0) {
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if (errorCount > 0) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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@ -145,3 +155,8 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void FixedSlotSequence::addCustomCheck(ReturnValue_t
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(*customCheckFunction)(const SlotList&)) {
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this->customCheckFunction = customCheckFunction;
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}
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@ -1,26 +1,30 @@
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#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
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#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
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#ifndef FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
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#define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
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#include "FixedSequenceSlot.h"
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#include "../objectmanager/SystemObject.h"
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#include "../tasks/FixedSequenceSlot.h"
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#include <set>
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/**
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* @brief This class is the representation of a Polling Sequence Table in software.
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* @brief This class is the representation of a
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* Polling Sequence Table in software.
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* @details
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* The FixedSlotSequence object maintains the dynamic execution of
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* device handler objects.
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* objects with stricter timing requirements for the FixedTimeslotTask.
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*
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* The main idea is to create a list of device handlers, to announce all
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* handlers to thepolling sequence and to maintain a list of
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* polling slot objects. This slot list represents the Polling Sequence Table
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* in software.
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* The main idea is to create a list of executable objects (for example
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* device handlers), to announce all handlers to the polling sequence and to
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* maintain a list of polling slot objects.
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* This slot list represents the Polling Sequence Table in software.
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*
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* Each polling slot contains information to indicate when and
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* which device handler shall be executed within a given polling period.
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* The sequence is then executed by iterating through this slot list.
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* Handlers are invoking by calling a certain function stored in the handler list.
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* which executable object shall be executed within a given polling period.
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* When adding a slot, a pointer to the executing task, a pointer to the
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* executable object and a step number can be passed. The step number will be
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* passed to the periodic handler.
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* The sequence is executed by iterating through the slot sequence and
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* executing the executable object in the correct timeslot.
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*/
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class FixedSlotSequence {
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public:
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@ -29,41 +33,44 @@ public:
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/**
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* @brief The constructor of the FixedSlotSequence object.
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*
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* @details The constructor takes two arguments, the period length and the init function.
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*
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* @param setLength The period length, expressed in ms.
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*/
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FixedSlotSequence(uint32_t setLengthMs);
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/**
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* @brief The destructor of the FixedSlotSequence object.
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*
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* @details The destructor frees all allocated memory by iterating through the slotList
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* and deleting all allocated resources.
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* @details
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* The destructor frees all allocated memory by iterating through the
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* slotList and deleting all allocated resources.
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*/
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virtual ~FixedSlotSequence();
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/**
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* @brief This is a method to add an PollingSlot object to slotList.
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*
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* @details Here, a polling slot object is added to the slot list. It is appended
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* to the end of the list. The list is currently NOT reordered.
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* Afterwards, the iterator current is set to the beginning of the list.
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* @param Object ID of the object to add
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* @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
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* will be called inside the slot period.
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* @param setSequenceId ID which can be used to distinguish
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* different task operations
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* @details
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* Here, a polling slot object is added to the slot list. It is appended
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* to the end of the list. The list is currently NOT reordered.
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* Afterwards, the iterator current is set to the beginning of the list.
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* @param handlerId ID of the object to add
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* @param setTime
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* Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
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* will be called inside the slot period.
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* @param setSequenceId
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* ID which can be used to distinguish different task operations. This
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* value will be passed to the executable function.
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* @param
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* @param
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*/
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void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
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ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
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ExecutableObjectIF* executableObject,
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PeriodicTaskIF* executingTask);
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/**
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* Checks if the current slot shall be executed immediately after the one before.
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* This allows to distinguish between grouped and not grouped handlers.
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* @brief Checks if the current slot shall be executed immediately
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* after the one before.
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* @details
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* This allows to distinguish between grouped and separated handlers.
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* @return - @c true if the slot has the same polling time as the previous
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* - @c false else
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*/
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@ -128,12 +135,18 @@ public:
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* @brief Check and initialize slot list.
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* @details
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* Checks if timing is ok (must be ascending) and if all handlers were found.
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* Also calls any initialization steps which are required after task
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* creation.
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* @return
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*/
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ReturnValue_t checkSequence() const;
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void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
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/**
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* @brief Perform any initialization steps required after the executing
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* task has been created. This function should be called from the
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* executing task!
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* @return
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*/
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ReturnValue_t intializeSequenceAfterTaskCreation() const;
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protected:
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@ -151,9 +164,9 @@ protected:
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*/
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SlotList slotList;
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uint32_t lengthMs;
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ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
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bool isEmpty = false;
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uint32_t lengthMs;
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};
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#endif /* FIXEDSLOTSEQUENCE_H_ */
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#endif /* FSFW_TASKS_FIXEDSLOTSEQUENCE_H_ */
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