added deadline missed check

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -1,6 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "FixedTimeslotTask.h"
 
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
@@ -18,16 +19,19 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
-	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as FixedTimeslotTask. The Task object is
+    // global, so it is found from any place.
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-	// Task should not start until explicitly requested
+	/* Task should not start until explicitly requested,
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
-	// but not if the scheduler is not running.
+	 * is running but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
+	 * To be able to accommodate both cases we check a member which is set in
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
+	 * #startTask(). If it is not set and we get here, the scheduler was started
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -81,11 +85,12 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
-	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
+	// A local iterator for the Polling Sequence Table is created to find the
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+    // start time for the first entry.
+	SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = (*it)->pollingTimeMs;
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	TickType_t xLastWakeTime;
@@ -102,17 +107,29 @@ void FixedTimeslotTask::taskFunctionality() {
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
 	    this->pst.executeAndAdvance();
-		if (pst.slotFollowsImmediately()) {
+	    if (not pst.slotFollowsImmediately()) {
-			//Do nothing
+	        /* If all operations are finished and the difference of the
-		} else {
+	         * current time minus the last wake time is larger than the
+	         * expected wait period, a deadline was missed. */
+	        if(xTaskGetTickCount() - xLastWakeTime >=
+	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
+#ifdef DEBUG
+	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+	                    " missed deadline!\n" << std::flush;
+#endif
+	            if(deadlineMissedFunc != nullptr) {
+	                this->deadlineMissedFunc();
+	            }
+	            // Continue immediately, no need to wait.
+	            break;
+	        }
+
 	        // we need to wait before executing the current slot
 	        //this gives us the time to wait:
 	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
 	        interval = pdMS_TO_TICKS(intervalMs);
 	        vTaskDelayUntil(&xLastWakeTime, interval);
-			//TODO deadline missed check
 	    }
-
 	}
 }
 
@@ -120,4 +137,3 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
-

osal/FreeRTOS/FixedTimeslotTask.h

@@ -1,24 +1,27 @@
-#ifndef POLLINGTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
-#define POLLINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
 #include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
+#include <freertos/FreeRTOS.h>
-#include "task.h"
+#include <freertos/task.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
+
 	/**
-	 * @brief	The standard constructor of the class.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
-	 *
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * @details	This is the general constructor of the class. In addition to the TaskBase parameters,
+	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
-	 * 			the following variables are passed:
+	 * @param setPriority Number of priorities specified by
-	 *
+	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
-	 * @param	(*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
+	 * @param setStack	Stack size in words (not bytes!).
-	 *
+	 * Lower limit specified by configMINIMAL_STACK_SIZE
-	 * @param	getPst The object id of the completely initialized polling sequence.
+	 * @param overallPeriod		Period in seconds.
+	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
+	 * @return Pointer to the newly created task.
 	 */
 	FixedTimeslotTask(const char *name, TaskPriority setPriority,
 			TaskStackSize setStack, TaskPeriod overallPeriod,
@@ -26,16 +29,18 @@ public:
 
 	/**
 	 * @brief	The destructor of the class.
-	 *
+	 * @details
-	 * @details	The destructor frees all heap memory that was allocated on thread initialization for the PST and
+	 * The destructor frees all heap memory that was allocated on thread
-	 * 			the device handlers. This is done by calling the PST's destructor.
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
 	 */
 	virtual ~FixedTimeslotTask(void);
 
 	ReturnValue_t startTask(void);
 	/**
 	 * This static function can be used as #deadlineMissedFunc.
-	 * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
 	 */
 	static void missedDeadlineCounter();
 	/**
@@ -51,6 +56,7 @@ public:
 	ReturnValue_t checkSequence() const;
 
 	ReturnValue_t sleepFor(uint32_t ms);
+
 protected:
 	bool started;
 	TaskHandle_t handle;
@@ -58,30 +64,29 @@ protected:
 	FixedSlotSequence pst;
 
 	/**
-	 * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
+	 * @brief	This attribute holds a function pointer that is executed when
-	 *
+	 *          a deadline was missed.
-	 * @details	Another function may be announced to determine the actions to perform when a deadline was missed.
+	 * @details
-	 * 			Currently, only one function for missing any deadline is allowed.
+	 * Another function may be announced to determine the actions to perform
-	 * 			If not used, it shall be declared NULL.
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
-	 * @brief	This is the entry point in a new polling thread.
+	 * @brief	This is the entry point for a new task.
-	 *
+	 * @details
-	 * @details	This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
+	 * This method starts the task by calling taskFunctionality(), as soon as
-	 * 			and link the Polling Sequence Table to the thread object and start taskFunctionality()
+	 * all requirements (task scheduler has started and startTask()
-	 * 			on success. If operation of the task is ended for some reason,
+	 * has been called) are met.
-	 * 			the destructor is called to free allocated memory.
 	 */
 	static void taskEntryPoint(void* argument);
 
 	/**
 	 * @brief	This function holds the main functionality of the thread.
-	 *
+	 * @details
-	 *
+	 * Core function holding the main functionality of the task
-	 * @details	Holding the main functionality of the task, this method is most important.
+	 * It links the functionalities provided by FixedSlotSequence with the
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
+	 * OS's System Calls to keep the timing of the periods.
-	 * 			to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
 };