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integrated change manually

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Robin Müller 2020-08-27 16:11:40 +02:00
parent 02be87aa03
commit 89d3fe5095
1 changed files with 143 additions and 143 deletions
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286
osal/FreeRTOS/PeriodicTask.cpp
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@ -1,143 +1,143 @@
#include "PeriodicTask.h" #include "PeriodicTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h" #include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../tasks/ExecutableObjectIF.h" #include "../../tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority, PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod, TaskStackSize setStack, TaskPeriod setPeriod,
TaskDeadlineMissedFunction deadlineMissedFunc) : TaskDeadlineMissedFunction deadlineMissedFunc) :
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc( started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
deadlineMissedFunc) deadlineMissedFunc)
{ {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE); configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
BaseType_t status = xTaskCreate(taskEntryPoint, name, BaseType_t status = xTaskCreate(taskEntryPoint, name,
stackSize, this, setPriority, &handle); stackSize, this, setPriority, &handle);
if(status != pdPASS){ if(status != pdPASS){
sif::debug << "PeriodicTask Insufficient heap memory remaining. " sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: " << status << std::endl; "Status: " << status << std::endl;
} }
} }
PeriodicTask::~PeriodicTask(void) { PeriodicTask::~PeriodicTask(void) {
//Do not delete objects, we were responsible for ptrs only. //Do not delete objects, we were responsible for ptrs only.
} }
void PeriodicTask::taskEntryPoint(void* argument) { void PeriodicTask::taskEntryPoint(void* argument) {
// The argument is re-interpreted as PeriodicTask. The Task object is // The argument is re-interpreted as PeriodicTask. The Task object is
// global, so it is found from any place. // global, so it is found from any place.
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument)); PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
/* Task should not start until explicitly requested, /* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler * but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running 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 * 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 * #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, * before #startTask() was called and we need to suspend if it is set,
* the scheduler was not running before #startTask() was called and we * the scheduler was not running before #startTask() was called and we
* can continue */ * can continue */
if (not originalTask->started) { if (not originalTask->started) {
vTaskSuspend(NULL); vTaskSuspend(NULL);
} }
originalTask->taskFunctionality(); originalTask->taskFunctionality();
sif::debug << "Polling task " << originalTask->handle sif::debug << "Polling task " << originalTask->handle
<< " returned from taskFunctionality." << std::endl; << " returned from taskFunctionality." << std::endl;
} }
ReturnValue_t PeriodicTask::startTask() { ReturnValue_t PeriodicTask::startTask() {
started = true; started = true;
// We must not call resume if scheduler is not started yet // We must not call resume if scheduler is not started yet
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
vTaskResume(handle); vTaskResume(handle);
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
vTaskDelay(pdMS_TO_TICKS(ms)); vTaskDelay(pdMS_TO_TICKS(ms));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void PeriodicTask::taskFunctionality() { void PeriodicTask::taskFunctionality() {
TickType_t xLastWakeTime; TickType_t xLastWakeTime;
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.); const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
for (auto const& object: objectList) { for (auto const &object: objectList) {
object->initializeAfterTaskCreation(); object->initializeAfterTaskCreation();
} }
/* The xLastWakeTime variable needs to be initialized with the current tick /* The xLastWakeTime variable needs to be initialized with the current tick
count. Note that this is the only time the variable is written to count. Note that this is the only time the variable is written to
explicitly. After this assignment, xLastWakeTime is updated automatically explicitly. After this assignment, xLastWakeTime is updated automatically
internally within vTaskDelayUntil(). */ internally within vTaskDelayUntil(). */
xLastWakeTime = xTaskGetTickCount(); xLastWakeTime = xTaskGetTickCount();
/* Enter the loop that defines the task behavior. */ /* Enter the loop that defines the task behavior. */
for (;;) { for (;;) {
for (auto const& object: objectList) { for (auto const& object: objectList) {
object->performOperation(); object->performOperation();
} }
checkMissedDeadline(xLastWakeTime, xPeriod); checkMissedDeadline(xLastWakeTime, xPeriod);
vTaskDelayUntil(&xLastWakeTime, xPeriod); vTaskDelayUntil(&xLastWakeTime, xPeriod);
} }
} }
ReturnValue_t PeriodicTask::addComponent(object_id_t object) { ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>( ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object); object);
if (newObject == nullptr) { if (newObject == nullptr) {
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure" sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implement ExecutableObjectIF" << std::endl; "it implement ExecutableObjectIF" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
objectList.push_back(newObject); objectList.push_back(newObject);
newObject->setTaskIF(this); newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
uint32_t PeriodicTask::getPeriodMs() const { uint32_t PeriodicTask::getPeriodMs() const {
return period * 1000; return period * 1000;
} }
void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime, void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval) { const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows /* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand * into account. Drawing this on paper with a timeline helps to understand
* it. */ * it. */
TickType_t currentTickCount = xTaskGetTickCount(); TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval; TickType_t timeToWake = xLastWakeTime + interval;
// Time to wake has not overflown. // Time to wake has not overflown.
if(timeToWake > xLastWakeTime) { if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current /* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was * tick count is simply larger than the time to wake, a deadline was
* missed */ * missed */
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) { if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline(); handleMissedDeadline();
} }
} }
/* Time to wake has overflown. A deadline was missed if the current time /* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */ * is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) { else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
handleMissedDeadline(); handleMissedDeadline();
} }
} }
TaskHandle_t PeriodicTask::getTaskHandle() { TaskHandle_t PeriodicTask::getTaskHandle() {
return handle; return handle;
} }
void PeriodicTask::handleMissedDeadline() { void PeriodicTask::handleMissedDeadline() {
#ifdef DEBUG #ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) << sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush; " missed deadline!\n" << std::flush;
#endif #endif
if(deadlineMissedFunc != nullptr) { if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc(); this->deadlineMissedFunc();
} }
} }