From 5eaf6cfd1f3afa8a02f7ce30c0e84f6a648f7193 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 4 Sep 2020 13:52:02 +0200 Subject: [PATCH] renormalizing pull request step1 --- osal/FreeRTOS/FixedTimeslotTask.cpp | 337 ++++++++++++++-------------- osal/FreeRTOS/FixedTimeslotTask.h | 202 ++++++++--------- 2 files changed, 272 insertions(+), 267 deletions(-) diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp index 772c4bca..309574eb 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.cpp +++ b/osal/FreeRTOS/FixedTimeslotTask.cpp @@ -1,166 +1,171 @@ -#include "FixedTimeslotTask.h" - -#include "../../serviceinterface/ServiceInterfaceStream.h" - -uint32_t FixedTimeslotTask::deadlineMissedCount = 0; -const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE; - -FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod overallPeriod, - void (*setDeadlineMissedFunc)()) : - started(false), handle(nullptr), pst(overallPeriod * 1000) { - configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); - xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); - // All additional attributes are applied to the object. - this->deadlineMissedFunc = setDeadlineMissedFunc; -} - -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. - FixedTimeslotTask *originalTask(reinterpret_cast(argument)); - /* Task should not start until explicitly requested, - * but in FreeRTOS, tasks start as soon as they are created if the scheduler - * 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(). If it is not set and we get here, the scheduler was started - * 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 (not originalTask->started) { - vTaskSuspend(NULL); - } - - originalTask->taskFunctionality(); - sif::debug << "Polling task " << originalTask->handle - << " returned from taskFunctionality." << std::endl; -} - -void FixedTimeslotTask::missedDeadlineCounter() { - FixedTimeslotTask::deadlineMissedCount++; - if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { - sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount - << " deadlines." << std::endl; - } -} - -ReturnValue_t FixedTimeslotTask::startTask() { - started = true; - - // We must not call resume if scheduler is not started yet - if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { - vTaskResume(handle); - } - - return HasReturnvaluesIF::RETURN_OK; -} - -ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, - uint32_t slotTimeMs, int8_t executionStep) { - ExecutableObjectIF* handler = - objectManager->get(componentId); - if (handler != nullptr) { - pst.addSlot(componentId, slotTimeMs, executionStep, handler, this); - return HasReturnvaluesIF::RETURN_OK; - } - - sif::error << "Component " << std::hex << componentId << - " not found, not adding it to pst" << std::endl; - return HasReturnvaluesIF::RETURN_FAILED; -} - -uint32_t FixedTimeslotTask::getPeriodMs() const { - return pst.getLengthMs(); -} - -ReturnValue_t FixedTimeslotTask::checkSequence() const { - return pst.checkSequence(); -} - -void FixedTimeslotTask::taskFunctionality() { - // A local iterator for the Polling Sequence Table is created to find the - // start time for the first entry. - auto slotListIter = pst.current; - - pst.intializeSequenceAfterTaskCreation(); - - //The start time for the first entry is read. - uint32_t intervalMs = slotListIter->pollingTimeMs; - TickType_t interval = pdMS_TO_TICKS(intervalMs); - - TickType_t xLastWakeTime; - /* The xLastWakeTime variable needs to be initialized with the current tick - count. Note that this is the only time the variable is written to - explicitly. After this assignment, xLastWakeTime is updated automatically - internally within vTaskDelayUntil(). */ - xLastWakeTime = xTaskGetTickCount(); - - // wait for first entry's start time - if(interval > 0) { - vTaskDelayUntil(&xLastWakeTime, interval); - } - - /* Enter the loop that defines the task behavior. */ - for (;;) { - //The component for this slot is executed and the next one is chosen. - this->pst.executeAndAdvance(); - if (not pst.slotFollowsImmediately()) { - // Get the interval till execution of the next slot. - intervalMs = this->pst.getIntervalToPreviousSlotMs(); - interval = pdMS_TO_TICKS(intervalMs); - - checkMissedDeadline(xLastWakeTime, interval); - - // Wait for the interval. This exits immediately if a deadline was - // missed while also updating the last wake time. - vTaskDelayUntil(&xLastWakeTime, interval); - } - } -} - -void FixedTimeslotTask::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; - // Time to wake has not overflown. - if(timeToWake > xLastWakeTime) { - /* If the current time has overflown exclusively or the current - * tick count is simply larger than the time to wake, a deadline was - * missed */ - if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } - } - /* Time to wake has overflown. A deadline was missed if the current time - * is larger than the time to wake */ - else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { - handleMissedDeadline(); - } -} - -void FixedTimeslotTask::handleMissedDeadline() { -#ifdef DEBUG - sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << - " missed deadline!\n" << std::flush; -#endif - if(deadlineMissedFunc != nullptr) { - this->deadlineMissedFunc(); - } -} - -ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { - vTaskDelay(pdMS_TO_TICKS(ms)); - return HasReturnvaluesIF::RETURN_OK; -} - -TaskHandle_t FixedTimeslotTask::getTaskHandle() { - return handle; -} +#include "FixedTimeslotTask.h" + +#include "../../serviceinterface/ServiceInterfaceStream.h" + +uint32_t FixedTimeslotTask::deadlineMissedCount = 0; +const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE; + +FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod overallPeriod, + void (*setDeadlineMissedFunc)()) : + started(false), handle(nullptr), pst(overallPeriod * 1000) { + configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); + xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle); + // All additional attributes are applied to the object. + this->deadlineMissedFunc = setDeadlineMissedFunc; +} + +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. + FixedTimeslotTask *originalTask(reinterpret_cast(argument)); + /* Task should not start until explicitly requested, + * but in FreeRTOS, tasks start as soon as they are created if the scheduler + * 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(). If it is not set and we get here, the scheduler was started + * 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 (not originalTask->started) { + vTaskSuspend(NULL); + } + + originalTask->taskFunctionality(); + sif::debug << "Polling task " << originalTask->handle + << " returned from taskFunctionality." << std::endl; +} + +void FixedTimeslotTask::missedDeadlineCounter() { + FixedTimeslotTask::deadlineMissedCount++; + if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) { + sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount + << " deadlines." << std::endl; + } +} + +ReturnValue_t FixedTimeslotTask::startTask() { + started = true; + + // We must not call resume if scheduler is not started yet + if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { + vTaskResume(handle); + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, + uint32_t slotTimeMs, int8_t executionStep) { + ExecutableObjectIF* handler = + objectManager->get(componentId); + if (handler != nullptr) { + pst.addSlot(componentId, slotTimeMs, executionStep, handler, this); + return HasReturnvaluesIF::RETURN_OK; + } + + sif::error << "Component " << std::hex << componentId << + " not found, not adding it to pst" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; +} + +uint32_t FixedTimeslotTask::getPeriodMs() const { + return pst.getLengthMs(); +} + +ReturnValue_t FixedTimeslotTask::checkSequence() const { + return pst.checkSequence(); +} + +void FixedTimeslotTask::taskFunctionality() { + // A local iterator for the Polling Sequence Table is created to find the + // start time for the first entry. + auto slotListIter = pst.current; + + pst.intializeSequenceAfterTaskCreation(); + + //The start time for the first entry is read. + uint32_t intervalMs = slotListIter->pollingTimeMs; + TickType_t interval = pdMS_TO_TICKS(intervalMs); + + TickType_t xLastWakeTime; + /* The xLastWakeTime variable needs to be initialized with the current tick + count. Note that this is the only time the variable is written to + explicitly. After this assignment, xLastWakeTime is updated automatically + internally within vTaskDelayUntil(). */ + xLastWakeTime = xTaskGetTickCount(); + + // wait for first entry's start time + if(interval > 0) { + vTaskDelayUntil(&xLastWakeTime, interval); + } + + /* Enter the loop that defines the task behavior. */ + for (;;) { + //The component for this slot is executed and the next one is chosen. + this->pst.executeAndAdvance(); + if (not pst.slotFollowsImmediately()) { + // Get the interval till execution of the next slot. + intervalMs = this->pst.getIntervalToPreviousSlotMs(); + interval = pdMS_TO_TICKS(intervalMs); + + checkMissedDeadline(xLastWakeTime, interval); + + // Wait for the interval. This exits immediately if a deadline was + // missed while also updating the last wake time. + vTaskDelayUntil(&xLastWakeTime, interval); + } + } +} + +void FixedTimeslotTask::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; + // Time to wake has not overflown. + if(timeToWake > xLastWakeTime) { + /* If the current time has overflown exclusively or the current + * tick count is simply larger than the time to wake, a deadline was + * missed */ + if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } + } + /* Time to wake has overflown. A deadline was missed if the current time + * is larger than the time to wake */ + else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { + handleMissedDeadline(); + } +} + +void FixedTimeslotTask::handleMissedDeadline() { + if(deadlineMissedFunc != nullptr) { + this->deadlineMissedFunc(); + } + +#ifdef DEBUG + object_id_t handlerId = pst.current->handlerId; + sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << " with" + << " object ID 0x" << std::setfill('0') << std::setw(8) << std::hex + << handlerId << " missed deadline!" << std::setfill(' ') + << std::dec << std::endl; +#endif + +} + +ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { + vTaskDelay(pdMS_TO_TICKS(ms)); + return HasReturnvaluesIF::RETURN_OK; +} + +TaskHandle_t FixedTimeslotTask::getTaskHandle() { + return handle; +} diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h index 42af14b8..c46de5b7 100644 --- a/osal/FreeRTOS/FixedTimeslotTask.h +++ b/osal/FreeRTOS/FixedTimeslotTask.h @@ -1,101 +1,101 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ - -#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h" -#include "../../tasks/FixedSlotSequence.h" -#include "../../tasks/FixedTimeslotTaskIF.h" -#include "../../tasks/Typedef.h" - -#include -#include - -class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF { -public: - - /** - * Keep in mind that you need to call before vTaskStartScheduler()! - * A lot of task parameters are set in "FreeRTOSConfig.h". - * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN - * @param setPriority Number of priorities specified by - * configMAX_PRIORITIES. High taskPriority_ number means high priority. - * @param setStack Stack size in words (not bytes!). - * Lower limit specified by configMINIMAL_STACK_SIZE - * @param overallPeriod Period in seconds. - * @param setDeadlineMissedFunc Callback if a deadline was missed. - * @return Pointer to the newly created task. - */ - FixedTimeslotTask(TaskName name, TaskPriority setPriority, - TaskStackSize setStack, TaskPeriod overallPeriod, - void (*setDeadlineMissedFunc)()); - - /** - * @brief The destructor of the class. - * @details - * The destructor frees all heap memory that was allocated on thread - * 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. - */ - static void missedDeadlineCounter(); - /** - * A helper variable to count missed deadlines. - */ - static uint32_t deadlineMissedCount; - - ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, - int8_t executionStep) override; - - uint32_t getPeriodMs() const override; - - ReturnValue_t checkSequence() const override; - - ReturnValue_t sleepFor(uint32_t ms) override; - - TaskHandle_t getTaskHandle() override; - -protected: - bool started; - TaskHandle_t handle; - - FixedSlotSequence pst; - - /** - * @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. 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 for a new task. - * @details - * This method starts the task by calling taskFunctionality(), as soon as - * all requirements (task scheduler has started and startTask() - * has been called) are met. - */ - 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 - * It links the functionalities provided by FixedSlotSequence with the - * OS's System Calls to keep the timing of the periods. - */ - void taskFunctionality(void); - - void checkMissedDeadline(const TickType_t xLastWakeTime, - const TickType_t interval); - void handleMissedDeadline(); -}; - -#endif /* POLLINGTASK_H_ */ +#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ +#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ + +#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h" +#include "../../tasks/FixedSlotSequence.h" +#include "../../tasks/FixedTimeslotTaskIF.h" +#include "../../tasks/Typedef.h" + +#include +#include + +class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF { +public: + + /** + * Keep in mind that you need to call before vTaskStartScheduler()! + * A lot of task parameters are set in "FreeRTOSConfig.h". + * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN + * @param setPriority Number of priorities specified by + * configMAX_PRIORITIES. High taskPriority_ number means high priority. + * @param setStack Stack size in words (not bytes!). + * Lower limit specified by configMINIMAL_STACK_SIZE + * @param overallPeriod Period in seconds. + * @param setDeadlineMissedFunc Callback if a deadline was missed. + * @return Pointer to the newly created task. + */ + FixedTimeslotTask(TaskName name, TaskPriority setPriority, + TaskStackSize setStack, TaskPeriod overallPeriod, + void (*setDeadlineMissedFunc)()); + + /** + * @brief The destructor of the class. + * @details + * The destructor frees all heap memory that was allocated on thread + * 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. + */ + static void missedDeadlineCounter(); + /** + * A helper variable to count missed deadlines. + */ + static uint32_t deadlineMissedCount; + + ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) override; + + uint32_t getPeriodMs() const override; + + ReturnValue_t checkSequence() const override; + + ReturnValue_t sleepFor(uint32_t ms) override; + + TaskHandle_t getTaskHandle() override; + +protected: + bool started; + TaskHandle_t handle; + + FixedSlotSequence pst; + + /** + * @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. 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 for a new task. + * @details + * This method starts the task by calling taskFunctionality(), as soon as + * all requirements (task scheduler has started and startTask() + * has been called) are met. + */ + 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 + * It links the functionalities provided by FixedSlotSequence with the + * OS's System Calls to keep the timing of the periods. + */ + void taskFunctionality(void); + + void checkMissedDeadline(const TickType_t xLastWakeTime, + const TickType_t interval); + void handleMissedDeadline(); +}; + +#endif /* POLLINGTASK_H_ */