Adding Code for Linux

osal/linux/FixedTimeslotTask.cpp

@@ -0,0 +1,89 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <unistd.h>
+#include <limits.h>
+#include <signal.h>
+#include <errno.h>
+#include <framework/osal/linux/FixedTimeslotTask.h>
+
+
+uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
+
+FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_):PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) {
+}
+
+FixedTimeslotTask::~FixedTimeslotTask() {
+
+}
+
+void* FixedTimeslotTask::taskEntryPoint(void* arg) {
+	//The argument is re-interpreted as PollingTask.
+	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
+	//The task's functionality is called.
+	originalTask->taskFunctionality();
+	return NULL;
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+	started = true;
+	createTask(&taskEntryPoint,this);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+	return PosixThread::sleep((uint64_t)ms*1000000);
+}
+
+uint32_t FixedTimeslotTask::getPeriodMs() const {
+	return pst.getLengthMs();
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+		uint32_t slotTimeMs, int8_t executionStep) {
+	pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
+	return pst.checkSequence();
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+	//Like FreeRTOS pthreads are running as soon as they are created
+	if (!started) {
+		suspend();
+	}
+	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
+	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+
+	//The start time for the first entry is read.
+	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+	uint64_t interval = pst.getIntervalToNextSlotMs();
+
+
+	//The task's "infinite" inner loop is entered.
+	while (1) {
+		if (pst.slotFollowsImmediately()) {
+			//Do nothing
+		} else {
+			//The interval for the next polling slot is selected.
+			interval = this->pst.getIntervalToPreviousSlotMs();
+			//The period is checked and restarted with the new interval.
+			//If the deadline was missed, the deadlineMissedFunc is called.
+			if(!PosixThread::delayUntil(&lastWakeTime,interval)) {
+				//No time left on timer -> we missed the deadline
+				missedDeadlineCounter();
+			}
+		}
+		//The device handler for this slot is executed and the next one is chosen.
+		this->pst.executeAndAdvance();
+	}
+}
+
+void FixedTimeslotTask::missedDeadlineCounter() {
+	FixedTimeslotTask::deadlineMissedCount++;
+	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
+		error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+				<< " deadlines." << std::endl;
+	}
+}