69 lines
2.5 KiB
C++
69 lines
2.5 KiB
C++
#include "fsfw/osal/rtems/PeriodicTask.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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PeriodicTask::PeriodicTask(const char* name, rtems_task_priority setPriority, size_t setStack,
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TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
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: PeriodicTaskBase(setPeriod, dlmFunc_),
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RTEMSTaskBase(setPriority, setStack, name),
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periodTicks(RtemsBasic::convertMsToTicks(static_cast<uint32_t>(setPeriod * 1000.0))) {}
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PeriodicTask::~PeriodicTask() {
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/* Do not delete objects, we were responsible for pointers only. */
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rtems_rate_monotonic_delete(periodId);
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}
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rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
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/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
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so it is found from any place. */
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auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
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return originalTask->taskFunctionality();
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;
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}
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ReturnValue_t PeriodicTask::startTask() {
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rtems_status_code status =
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rtems_task_start(id, PeriodicTask::taskEntryPoint, rtems_task_argument((void*)this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PeriodicTask::startTask for " << std::hex << this->getId() << std::dec
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<< " failed" << std::endl;
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#else
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sif::printError("PeriodicTask::startTask for 0x%08x failed\n", getId());
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#endif
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}
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switch (status) {
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case RTEMS_SUCCESSFUL:
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/* Task started successfully */
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return HasReturnvaluesIF::RETURN_OK;
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default:
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/* RTEMS_INVALID_ADDRESS - invalid task entry point
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RTEMS_INVALID_ID - invalid task id
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RTEMS_INCORRECT_STATE - task not in the dormant state
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RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { return RTEMSTaskBase::sleepFor(ms); }
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[[noreturn]] void PeriodicTask::taskFunctionality() {
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RTEMSTaskBase::setAndStartPeriod(periodTicks, &periodId);
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initObjsAfterTaskCreation();
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/* The task's "infinite" inner loop is entered. */
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while (true) {
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for (const auto& objectPair : objectList) {
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objectPair.first->performOperation(objectPair.second);
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}
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rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks, periodId);
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if (status == RTEMS_TIMEOUT) {
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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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}
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