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finished overflow checking (hopefully)

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This commit is contained in:
Robin Müller 2020-06-22 23:30:17 +02:00
parent 3c7ac60dbe
commit bf63ba15fe
2 changed files with 40 additions and 19 deletions
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55
osal/FreeRTOS/FixedTimeslotTask.cpp
View File

@ -109,25 +109,8 @@ void FixedTimeslotTask::taskFunctionality() {
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
/* If all operations are finished and the difference of the
* current time minus the last wake time is larger than the
* expected wait period, a deadline was missed.
* We also check whether an overflow has occured first.
* In this special case, we will ignore missed deadlines for now. */
const TickType_t constTickCount = xTaskGetTickCount();
if(constTickCount < xLastWakeTime or
constTickCount + interval < xLastWakeTime) {
// don't do anything for now.
}
else if(xTaskGetTickCount() - xLastWakeTime >= interval) {
#ifdef DEBUG
sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
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);
@ -135,6 +118,40 @@ void FixedTimeslotTask::taskFunctionality() {
}
}
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;
// Tick count has overflown
if(currentTickCount < xLastWakeTime) {
// Time to wake has overflown as well. If the tick count
// is larger than the time to wake, a deadline was missed.
if(timeToWake < xLastWakeTime and
currentTickCount > timeToWake) {
handleMissedDeadline();
}
}
// No tick count overflow. If the timeToWake has not overflown
// and the current tick count is larger than the time to wake,
// a deadline was missed.
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;

4
osal/FreeRTOS/FixedTimeslotTask.h
View File

@ -89,6 +89,10 @@ protected:
* 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_ */