77 lines
2.7 KiB
C++
77 lines
2.7 KiB
C++
#include "fsfw/osal/rtems/RTEMSTaskBase.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = RTEMS_MINIMUM_STACK_SIZE;
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RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size,
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const char *name) {
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rtems_name osalName = 0;
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for (uint8_t i = 0; i < 4; i++) {
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if (name[i] == 0) {
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break;
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}
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osalName += name[i] << (8 * (3 - i));
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}
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// The task is created with the operating system's system call.
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rtems_status_code status = RTEMS_UNSATISFIED;
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if (set_priority <= 99) {
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status = rtems_task_create(osalName, (0xFF - 2 * set_priority), stack_size,
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RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR,
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RTEMS_FLOATING_POINT, &id);
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}
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ReturnValue_t result = convertReturnCode(status);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "TaskBase::TaskBase: createTask with name " << std::hex << osalName << std::dec
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<< " failed with return code " << (uint32_t)status << std::endl;
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#endif
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this->id = 0;
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}
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}
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RTEMSTaskBase::~RTEMSTaskBase() { rtems_task_delete(id); }
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rtems_id RTEMSTaskBase::getId() const { return this->id; }
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ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
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rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
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return convertReturnCode(status);
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}
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ReturnValue_t RTEMSTaskBase::convertReturnCode(rtems_status_code inValue) {
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switch (inValue) {
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case RTEMS_SUCCESSFUL:
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return HasReturnvaluesIF::RETURN_OK;
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case RTEMS_MP_NOT_CONFIGURED:
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return HasReturnvaluesIF::RETURN_FAILED;
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case RTEMS_INVALID_NAME:
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return HasReturnvaluesIF::RETURN_FAILED;
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case RTEMS_TOO_MANY:
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return HasReturnvaluesIF::RETURN_FAILED;
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case RTEMS_INVALID_ADDRESS:
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return HasReturnvaluesIF::RETURN_FAILED;
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case RTEMS_UNSATISFIED:
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return HasReturnvaluesIF::RETURN_FAILED;
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case RTEMS_INVALID_PRIORITY:
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return HasReturnvaluesIF::RETURN_FAILED;
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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ReturnValue_t RTEMSTaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
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rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
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rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
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if (status == RTEMS_SUCCESSFUL) {
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status = restartPeriod(period, *periodId);
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}
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return convertReturnCode(status);
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}
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rtems_status_code RTEMSTaskBase::restartPeriod(rtems_interval period, rtems_id periodId) {
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// This is necessary to avoid a call with period = 0, which does not start the period.
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rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
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return status;
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}
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