updating code from Flying Laptop

This is the framework of Flying Laptop OBSW version A.13.0.

osal/rtems/PollingTask.cpp

@@ -0,0 +1,106 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "PollingTask.h"
+
+uint32_t PollingTask::deadlineMissedCount = 0;
+
+PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
+		size_t setStack, uint32_t setOverallPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		TaskBase(setPriority, setStack, name), periodId(0), pst(
+				setOverallPeriod) {
+	// All additional attributes are applied to the object.
+	this->deadlineMissedFunc = setDeadlineMissedFunc;
+	rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
+	rtems_status_code status = rtems_rate_monotonic_create(periodName,
+			&periodId);
+	if (status != RTEMS_SUCCESSFUL) {
+		error << "PollingTask::period create failed with status " << status
+				<< std::endl;
+	}
+}
+
+PollingTask::~PollingTask() {
+}
+
+rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
+
+	//The argument is re-interpreted as PollingTask.
+	PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
+	//The task's functionality is called.
+	originalTask->taskFunctionality();
+	debug << "Polling task " << originalTask->getId()
+			<< " returned from taskFunctionality." << std::endl;
+}
+
+void PollingTask::missedDeadlineCounter() {
+	PollingTask::deadlineMissedCount++;
+	if (PollingTask::deadlineMissedCount % 10 == 0) {
+		error << "PST missed " << PollingTask::deadlineMissedCount
+				<< " deadlines." << std::endl;
+	}
+}
+
+ReturnValue_t PollingTask::startTask() {
+	rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
+			rtems_task_argument((void *) this));
+	if (status != RTEMS_SUCCESSFUL) {
+		error << "PollingTask::startTask for " << std::hex << this->getId()
+				<< std::dec << " failed." << std::endl;
+	}
+	return RtemsBasic::convertReturnCode(status);
+}
+
+ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+		int8_t executionStep) {
+	pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PollingTask::getPeriodMs() const {
+	return pst.getLengthMs();
+}
+
+ReturnValue_t PollingTask::checkSequence() const {
+	return pst.checkSequence();
+}
+
+void PollingTask::taskFunctionality() {
+	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
+	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+
+	//The start time for the first entry is read.
+	rtems_interval interval = RtemsBasic::convertMsToTicks(
+			(*it)->pollingTimeMs);
+	//The period is set up and started with the system call.
+	//The +1 is necessary to avoid a call with period = 0, which does not start the period.
+	rtems_status_code status = rtems_rate_monotonic_period(periodId,
+			interval + 1);
+	if (status != RTEMS_SUCCESSFUL) {
+		error << "PollingTask::period start failed with status " << status
+				<< std::endl;
+		return;
+	}
+	//The task's "infinite" inner loop is entered.
+	while (1) {
+		if (pst.slotFollowsImmediately()) {
+			//Do nothing
+		} else {
+			//The interval for the next polling slot is selected.
+			interval = this->pst.getIntervalMs();
+			//The period is checked and restarted with the new interval.
+			//If the deadline was missed, the deadlineMissedFunc is called.
+			status = rtems_rate_monotonic_period(periodId, interval);
+			if (status == RTEMS_TIMEOUT) {
+				if (this->deadlineMissedFunc != NULL) {
+					this->deadlineMissedFunc();
+				}
+			}
+		}
+		//The device handler for this slot is executed and the next one is chosen.
+		this->pst.executeAndAdvance();
+	}
+}
+
+ReturnValue_t PollingTask::sleepFor(uint32_t ms){
+	return TaskBase::sleepFor(ms);
+};