73 lines
2.1 KiB
C++
73 lines
2.1 KiB
C++
#include <framework/tasks/ExecutableObjectIF.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <errno.h>
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#include <framework/osal/linux/PeriodicPosixTask.h>
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PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):PosixThread(name_,priority_,stackSize_),objectList(),started(false),periodMs(period_),deadlineMissedFunc(
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deadlineMissedFunc_) {
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}
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PeriodicPosixTask::~PeriodicPosixTask() {
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//Not Implemented
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}
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void* PeriodicPosixTask::taskEntryPoint(void* arg) {
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//The argument is re-interpreted as PollingTask.
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PeriodicPosixTask *originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
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//The task's functionality is called.
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originalTask->taskFunctionality();
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return NULL;
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}
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ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
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ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
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object);
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if (newObject == NULL) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back(newObject);
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
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return PosixThread::sleep((uint64_t)ms*1000000);
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}
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ReturnValue_t PeriodicPosixTask::startTask(void){
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started = true;
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createTask(&taskEntryPoint,this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PeriodicPosixTask::taskFunctionality(void){
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if(!started){
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suspend();
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}
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uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
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//The task's "infinite" inner loop is entered.
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while (1) {
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for (ObjectList::iterator it = objectList.begin();
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it != objectList.end(); ++it) {
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(*it)->performOperation();
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}
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if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
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char name[20] = {0};
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int status = pthread_getname_np(pthread_self(),name,sizeof(name));
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if(status==0){
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sif::error << "ObjectTask: " << name << " Deadline missed." << std::endl;
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}else{
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sif::error << "ObjectTask: X Deadline missed. " << status << std::endl;
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}
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if (this->deadlineMissedFunc != NULL) {
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this->deadlineMissedFunc();
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}
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}
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}
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}
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uint32_t PeriodicPosixTask::getPeriodMs() const {
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return periodMs;
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}
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