From 94b45d7407bd6413926184e8ec8f746fda648cfe Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:49:27 +0200
Subject: [PATCH] changed taken over

---
 osal/linux/PeriodicPosixTask.cpp | 35 +++++++++++++++++---------------
 osal/linux/PeriodicPosixTask.h   |  4 ++--
 2 files changed, 21 insertions(+), 18 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index bbf33b01..3c1df6bb 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -1,8 +1,7 @@
 #include "../../tasks/ExecutableObjectIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../osal/linux/PeriodicPosixTask.h"
-
 #include <errno.h>
+#include "PeriodicPosixTask.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
 		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
@@ -26,14 +25,14 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
-	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-	            "it implements ExecutableObjectIF" << std::endl;
+		sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+				<< " it implements ExecutableObjectIF!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
 	newObject->setTaskIF(this);
 
-	return newObject->initializeAfterTaskCreation();
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
@@ -49,27 +48,31 @@ ReturnValue_t PeriodicPosixTask::startTask(void) {
 }
 
 void PeriodicPosixTask::taskFunctionality(void) {
-	if(!started){
+	if(not started) {
 		suspend();
 	}
 
+	for (auto const &object: objectList) {
+		object->initializeAfterTaskCreation();
+	}
+
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	//The task's "infinite" inner loop is entered.
 	while (1) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const &object: objectList) {
+			object->performOperation();
 		}
-		if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
+
+		if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
 			char name[20] = {0};
-			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
-			if(status == 0){
-				//sif::error << "PeriodicPosixTask " << name << ": Deadline "
-				//		"missed." << std::endl;
+			int status = pthread_getname_np(pthread_self(), name, sizeof(name));
+			if(status == 0) {
+				sif::error << "PeriodicPosixTask " << name << ": Deadline "
+						"missed." << std::endl;
 			}
 			else {
-				//sif::error << "PeriodicPosixTask X: Deadline missed. " <<
-				//		status << std::endl;
+				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
+						status << std::endl;
 			}
 			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index 38825bbf..ffee236b 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -3,7 +3,7 @@
 
 #include "../../tasks/PeriodicTaskIF.h"
 #include "../../objectmanager/ObjectManagerIF.h"
-#include "../../osal/linux/PosixThread.h"
+#include "PosixThread.h"
 #include "../../tasks/ExecutableObjectIF.h"
 #include <vector>
 
@@ -32,7 +32,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void) override;
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.