added deadline missed check
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@ -1,6 +1,7 @@
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include "FixedTimeslotTask.h"
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
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@ -18,16 +19,19 @@ FixedTimeslotTask::~FixedTimeslotTask() {
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void FixedTimeslotTask::taskEntryPoint(void* argument) {
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//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
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// The argument is re-interpreted as FixedTimeslotTask. The Task object is
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// global, so it is found from any place.
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FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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// Task should not start until explicitly requested
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// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
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// but not if the scheduler is not running.
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// to be able to accommodate both cases we check a member which is set in #startTask()
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// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
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// if it is set, the scheduler was not running before #startTask() was called and we can continue
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/* Task should not start until explicitly requested,
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* but in FreeRTOS, tasks start as soon as they are created if the scheduler
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* is running but not if the scheduler is not running.
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* To be able to accommodate both cases we check a member which is set in
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* #startTask(). If it is not set and we get here, the scheduler was started
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* before #startTask() was called and we need to suspend if it is set,
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* the scheduler was not running before #startTask() was called and we
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* can continue */
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if (!originalTask->started) {
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if (not originalTask->started) {
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vTaskSuspend(NULL);
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}
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@ -81,11 +85,12 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
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}
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void FixedTimeslotTask::taskFunctionality() {
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// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
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std::list<FixedSequenceSlot*>::iterator it = pst.current;
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// A local iterator for the Polling Sequence Table is created to find the
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// start time for the first entry.
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SlotListIter slotListIter = pst.current;
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//The start time for the first entry is read.
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uint32_t intervalMs = (*it)->pollingTimeMs;
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uint32_t intervalMs = slotListIter->pollingTimeMs;
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TickType_t interval = pdMS_TO_TICKS(intervalMs);
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TickType_t xLastWakeTime;
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@ -102,17 +107,29 @@ void FixedTimeslotTask::taskFunctionality() {
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for (;;) {
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//The component for this slot is executed and the next one is chosen.
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this->pst.executeAndAdvance();
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if (pst.slotFollowsImmediately()) {
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//Do nothing
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} else {
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if (not pst.slotFollowsImmediately()) {
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/* If all operations are finished and the difference of the
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* current time minus the last wake time is larger than the
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* expected wait period, a deadline was missed. */
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if(xTaskGetTickCount() - xLastWakeTime >=
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pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
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#ifdef DEBUG
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sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
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" missed deadline!\n" << std::flush;
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#endif
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if(deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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// Continue immediately, no need to wait.
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break;
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}
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// we need to wait before executing the current slot
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//this gives us the time to wait:
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intervalMs = this->pst.getIntervalToPreviousSlotMs();
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interval = pdMS_TO_TICKS(intervalMs);
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vTaskDelayUntil(&xLastWakeTime, interval);
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//TODO deadline missed check
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}
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}
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}
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@ -120,4 +137,3 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
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vTaskDelay(pdMS_TO_TICKS(ms));
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -1,24 +1,27 @@
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#ifndef POLLINGTASK_H_
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#define POLLINGTASK_H_
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#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
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#include <framework/devicehandlers/FixedSlotSequence.h>
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#include <framework/tasks/FixedTimeslotTaskIF.h>
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#include <framework/tasks/Typedef.h>
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#include <FreeRTOS.h>
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#include "task.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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class FixedTimeslotTask: public FixedTimeslotTaskIF {
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public:
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/**
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* @brief The standard constructor of the class.
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*
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* @details This is the general constructor of the class. In addition to the TaskBase parameters,
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* the following variables are passed:
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*
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* @param (*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
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*
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* @param getPst The object id of the completely initialized polling sequence.
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
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* @param setPriority Number of priorities specified by
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* configMAX_PRIORITIES. High taskPriority_ number means high priority.
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* @param setStack Stack size in words (not bytes!).
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* Lower limit specified by configMINIMAL_STACK_SIZE
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* @param overallPeriod Period in seconds.
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* @param setDeadlineMissedFunc Callback if a deadline was missed.
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* @return Pointer to the newly created task.
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*/
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FixedTimeslotTask(const char *name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod overallPeriod,
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@ -26,16 +29,18 @@ public:
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/**
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* @brief The destructor of the class.
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*
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* @details The destructor frees all heap memory that was allocated on thread initialization for the PST and
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* the device handlers. This is done by calling the PST's destructor.
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* @details
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* The destructor frees all heap memory that was allocated on thread
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* initialization for the PST and the device handlers. This is done by
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* calling the PST's destructor.
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*/
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virtual ~FixedTimeslotTask(void);
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ReturnValue_t startTask(void);
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/**
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* This static function can be used as #deadlineMissedFunc.
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* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
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* It counts missedDeadlines and prints the number of missed deadlines
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* every 10th time.
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*/
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static void missedDeadlineCounter();
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/**
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@ -51,6 +56,7 @@ public:
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ReturnValue_t checkSequence() const;
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ReturnValue_t sleepFor(uint32_t ms);
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protected:
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bool started;
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TaskHandle_t handle;
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@ -58,30 +64,29 @@ protected:
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FixedSlotSequence pst;
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/**
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* @brief This attribute holds a function pointer that is executed when a deadline was missed.
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*
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* @details Another function may be announced to determine the actions to perform when a deadline was missed.
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* Currently, only one function for missing any deadline is allowed.
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* If not used, it shall be declared NULL.
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* @brief This attribute holds a function pointer that is executed when
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* a deadline was missed.
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* @details
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* Another function may be announced to determine the actions to perform
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* when a deadline was missed. Currently, only one function for missing
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* any deadline is allowed. If not used, it shall be declared NULL.
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*/
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void (*deadlineMissedFunc)(void);
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/**
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* @brief This is the entry point in a new polling thread.
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*
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* @details This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
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* and link the Polling Sequence Table to the thread object and start taskFunctionality()
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* on success. If operation of the task is ended for some reason,
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* the destructor is called to free allocated memory.
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* @brief This is the entry point for a new task.
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* @details
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* This method starts the task by calling taskFunctionality(), as soon as
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* all requirements (task scheduler has started and startTask()
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* has been called) are met.
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*/
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static void taskEntryPoint(void* argument);
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/**
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* @brief This function holds the main functionality of the thread.
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*
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*
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* @details Holding the main functionality of the task, this method is most important.
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* It links the functionalities provided by FixedSlotSequence with the OS's System Calls
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* to keep the timing of the periods.
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* @details
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* Core function holding the main functionality of the task
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* It links the functionalities provided by FixedSlotSequence with the
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* OS's System Calls to keep the timing of the periods.
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*/
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void taskFunctionality(void);
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};
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