added setting task IF

osal/FreeRTOS/PeriodicTask.cpp

@@ -70,15 +70,62 @@ void PeriodicTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const& object: objectList) {
+			object->performOperation();
 		}
 
-		/* If all operations are finished and the difference of the
-		 * current time minus the last wake time is larger than the
-		 * wait period, a deadline was missed. */
-		if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
+		checkMissedDeadline(xLastWakeTime, xPeriod);
+
+		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implement ExecutableObjectIF" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	     newObject->setTaskIF(this);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}
+
+void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Tick count has overflown
+    if(currentTickCount < xLastWakeTime) {
+        // Time to wake has overflown as well. If the tick count
+        // is larger than the time to wake, a deadline was missed.
+        if(timeToWake < xLastWakeTime and
+                currentTickCount > timeToWake) {
+            handleMissedDeadline();
+        }
+    }
+    // No tick count overflow. If the timeToWake has not overflown
+    // and the current tick count is larger than the time to wake,
+    // a deadline was missed.
+    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+        handleMissedDeadline();
+    }
+}
+
+void PeriodicTask::handleMissedDeadline() {
 #ifdef DEBUG
     sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
             " missed deadline!\n" << std::flush;
@@ -86,23 +133,4 @@ void PeriodicTask::taskFunctionality() {
     if(deadlineMissedFunc != nullptr) {
         this->deadlineMissedFunc();
     }
-		}
-
-		vTaskDelayUntil(&xLastWakeTime, xPeriod);
-
-	}
-}
-
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
-			object);
-	if (newObject == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	objectList.push_back(newObject);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const {
-	return period * 1000;
 }

osal/FreeRTOS/PeriodicTask.h

@@ -54,7 +54,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
@@ -63,11 +63,12 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	bool started;
 	TaskHandle_t handle;
@@ -115,6 +116,10 @@ protected:
 	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
 #endif /* PERIODICTASK_H_ */

osal/linux/PeriodicPosixTask.cpp

@@ -20,13 +20,18 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
+        bool addTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

osal/linux/PeriodicPosixTask.h

@@ -26,11 +26,12 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool addTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 private:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.

tasks/PeriodicTaskIF.h

@@ -1,9 +1,11 @@
-#ifndef PERIODICTASKIF_H_
-#define PERIODICTASKIF_H_
+#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
+#define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/timemanager/Clock.h>
 #include <cstddef>
 class ExecutableObjectIF;
+
 /**
  * New version of TaskIF
  * Follows RAII principles, i.e. there's no create or delete method.
@@ -17,11 +19,27 @@ public:
 	 */
 	virtual ~PeriodicTaskIF() { }
 	/**
-	 * @brief	With the startTask method, a created task can be started for the first time.
+	 * @brief	With the startTask method, a created task can be started
+	 *          for the first time.
 	 */
 	virtual ReturnValue_t startTask() = 0;
 
-	virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
+	/**
+	 * Add a component (object) to a periodic task. The pointer to the
+	 * task can be set optionally
+	 * @param object
+	 * Add an object to the task. The most important case is to add an
+	 * executable object with a function which will be called regularly
+	 * (see ExecutableObjectIF)
+	 * @param setTaskIF
+	 * Can be used to specify whether the task object pointer is passed
+	 * to the component.
+	 * @return
+	 */
+	virtual ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 
 	virtual ReturnValue_t sleepFor(uint32_t ms) = 0;