66 lines
2.2 KiB
C++
66 lines
2.2 KiB
C++
#include "fsfw/osal/linux/FixedTimeslotTask.h"
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#include <climits>
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#include "fsfw/serviceinterface/ServiceInterface.h"
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
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FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
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TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
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: FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
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posixThread(name_, priority_, stackSize_),
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started(false) {}
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void* FixedTimeslotTask::taskEntryPoint(void* arg) {
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// The argument is re-interpreted as PollingTask.
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auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
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// The task's functionality is called.
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originalTask->taskFunctionality();
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return nullptr;
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}
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ReturnValue_t FixedTimeslotTask::startTask() {
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started = true;
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posixThread.createTask(&taskEntryPoint, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
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return PosixThread::sleep((uint64_t)ms * 1000000);
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}
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[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
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// Like FreeRTOS pthreads are running as soon as they are created
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if (!started) {
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posixThread.suspend();
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}
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// Returnvalue ignored for now
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static_cast<void>(pollingSeqTable.intializeSequenceAfterTaskCreation());
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// The start time for the first entry is read.
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uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
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uint32_t interval = 0;
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// The task's "infinite" inner loop is entered.
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while (true) {
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if (pollingSeqTable.slotFollowsImmediately()) {
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// Do nothing
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} else {
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// The interval for the next polling slot is selected.
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interval = pollingSeqTable.getIntervalToPreviousSlotMs();
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// The period is checked and restarted with the new interval.
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// If the deadline was missed, the deadlineMissedFunc is called.
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if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
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// No time left on timer -> we missed the deadline
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if(dlmFunc != nullptr){
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dlmFunc();
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}
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}
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}
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// The device handler for this slot is executed and the next one is chosen.
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pollingSeqTable.executeAndAdvance();
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}
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}
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