From 381914886dd445b9af9669af658ac1b00c035e86 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:43:53 +0200
Subject: [PATCH] initAfterTaskCreation added for linux

---
 osal/linux/PeriodicPosixTask.cpp | 24 +++++++++++++++---------
 1 file changed, 15 insertions(+), 9 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index df3694ef..69dbb619 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -46,27 +46,33 @@ ReturnValue_t PeriodicPosixTask::startTask(void){
 }
 
 void PeriodicPosixTask::taskFunctionality(void){
-	if(!started){
+	if(not started){
 		suspend();
 	}
+
+	for (auto const &object: objectList) {
+		object->initializeAfterTaskCreation();
+	}
+
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	//The task's "infinite" inner loop is entered.
 	while (1) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const &object: objectList) {
+			object->performOperation();
 		}
-		if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
+
+		if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
 			char name[20] = {0};
-			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
-			if(status==0){
+			int status = pthread_getname_np(pthread_self(), name, sizeof(name));
+			if(status == 0) {
 				sif::error << "PeriodicPosixTask " << name << ": Deadline "
 						"missed." << std::endl;
-			}else{
+			}
+			else {
 				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
 						status << std::endl;
 			}
-			if (this->deadlineMissedFunc != NULL) {
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}