stack size is bytes now

This commit is contained in:
Robin Müller 2020-08-08 12:46:06 +02:00
parent 3905b72b08
commit a0f41d3238
6 changed files with 45 additions and 19 deletions

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@ -5,11 +5,12 @@
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)()) :
started(false), handle(NULL), pst(overallPeriod * 1000) {
xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
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;
}
@ -82,7 +83,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry.
FixedSlotSequence::SlotListIter slotListIter = pst.current;
auto slotListIter = pst.current;
//The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs;
@ -155,3 +156,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
vTaskDelay(pdMS_TO_TICKS(ms));
return HasReturnvaluesIF::RETURN_OK;
}
TaskHandle_t FixedTimeslotTask::getTaskHandle() {
return handle;
}

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@ -1,6 +1,7 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
#include <framework/devicehandlers/FixedSlotSequence.h>
#include <framework/tasks/FixedTimeslotTaskIF.h>
#include <framework/tasks/Typedef.h>
@ -8,7 +9,7 @@
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF {
class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
public:
/**
@ -23,7 +24,7 @@ public:
* @param setDeadlineMissedFunc Callback if a deadline was missed.
* @return Pointer to the newly created task.
*/
FixedTimeslotTask(const char *name, TaskPriority setPriority,
FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)());
@ -57,6 +58,8 @@ public:
ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() override;
protected:
bool started;
TaskHandle_t handle;

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@ -0,0 +1,13 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FreeRTOSTaskIF {
public:
virtual~ FreeRTOSTaskIF() {}
virtual TaskHandle_t getTaskHandle() = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */

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@ -5,12 +5,13 @@
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)()) :
TaskDeadlineMissedFunction deadlineMissedFunc) :
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
setDeadlineMissedFunc)
deadlineMissedFunc)
{
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
BaseType_t status = xTaskCreate(taskEntryPoint, name,
setStack, this, setPriority, &handle);
stackSize, this, setPriority, &handle);
if(status != pdPASS){
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: " << status << std::endl;
@ -81,19 +82,17 @@ void PeriodicTask::taskFunctionality() {
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
ReturnValue_t PeriodicTask::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;
"it implement ExecutableObjectIF" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
if(setTaskIF) {
newObject->setTaskIF(this);
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -124,6 +123,10 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
}
}
TaskHandle_t PeriodicTask::getTaskHandle() {
return handle;
}
void PeriodicTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<

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@ -1,10 +1,12 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/tasks/PeriodicTaskIF.h>
#include <framework/tasks/Typedef.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
@ -17,7 +19,7 @@ class ExecutableObjectIF;
* periodic activities of multiple objects.
* @ingroup task_handling
*/
class PeriodicTask: public PeriodicTaskIF {
class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
public:
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
@ -38,9 +40,9 @@ public:
* The function pointer to the deadline missed function that shall
* be assigned.
*/
PeriodicTask(const char *name, TaskPriority setPriority,
PeriodicTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)());
TaskDeadlineMissedFunction deadlineMissedFunc);
/**
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
@ -63,12 +65,13 @@ public:
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object,
bool setTaskIF = true) override;
ReturnValue_t addComponent(object_id_t object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() override;
protected:
bool started;
TaskHandle_t handle;

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@ -1,7 +1,6 @@
#ifndef FRAMEWORK_TASKS_TYPEDEF_H_
#define FRAMEWORK_TASKS_TYPEDEF_H_
//TODO more generic?
typedef const char* TaskName;
typedef uint8_t TaskPriority;
typedef size_t TaskStackSize;