108 lines
4.1 KiB
C++
108 lines
4.1 KiB
C++
#ifndef FIXEDSLOTSEQUENCE_H_
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#define FIXEDSLOTSEQUENCE_H_
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#include <framework/devicehandlers/FixedSequenceSlot.h>
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#include <framework/objectmanager/SystemObject.h>
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#include <list>
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/**
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* \brief This class is the representation of a Polling Sequence Table in software.
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*
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* \details The FixedSlotSequence object maintains the dynamic execution of device handler objects.
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* The main idea is to create a list of device handlers, to announce all handlers to the
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* polling sequence and to maintain a list of polling slot objects. This slot list represents the
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* Polling Sequence Table in software. Each polling slot contains information to indicate when and
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* which device handler shall be executed within a given polling period.
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* The sequence is then executed by iterating through this slot list.
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* Handlers are invoking by calling a certain function stored in the handler list.
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*/
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class FixedSlotSequence {
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public:
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/**
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* \brief The constructor of the FixedSlotSequence object.
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*
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* \details The constructor takes two arguments, the period length and the init function.
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*
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* \param setLength The period length, expressed in ms.
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*/
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FixedSlotSequence(uint32_t setLengthMs);
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/**
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* \brief The destructor of the FixedSlotSequence object.
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*
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* \details The destructor frees all allocated memory by iterating through the slotList
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* and deleting all allocated resources.
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*/
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virtual ~FixedSlotSequence();
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/**
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* \brief This is a method to add an PollingSlot object to slotList.
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*
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* \details Here, a polling slot object is added to the slot list. It is appended
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* to the end of the list. The list is currently NOT reordered.
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* Afterwards, the iterator current is set to the beginning of the list.
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*/
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void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
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PeriodicTaskIF* executingTask);
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/**
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* Checks if the current slot shall be executed immediately after the one before.
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* This allows to distinguish between grouped and not grouped handlers.
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* @return - @c true if the slot has the same polling time as the previous
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* - @c false else
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*/
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bool slotFollowsImmediately();
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/**
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* \brief This method returns the time until the next software component is invoked.
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*
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* \details This method is vitally important for the operation of the PST. By fetching the polling time
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* of the current slot and that of the next one (or the first one, if the list end is reached)
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* it calculates and returns the interval in clock ticks within which the handler execution
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* shall take place.
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*/
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uint32_t getIntervalMs();
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/**
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* \brief This method returns the length of this FixedSlotSequence instance.
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*/
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uint32_t getLengthMs() const;
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/**
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* \brief The method to execute the device handler entered in the current OPUSPollingSlot object.
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*
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* \details Within this method the device handler object to be executed is chosen by looking up the
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* handler address of the current slot in the handlerMap. Either the device handler's
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* talkToInterface or its listenToInterface method is invoked, depending on the isTalking flag
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* of the polling slot. After execution the iterator current is increased or, by reaching the
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* end of slotList, reset to the beginning.
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*/
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void executeAndAdvance();
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/**
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* \brief An iterator that indicates the current polling slot to execute.
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*
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* \details This is an iterator for slotList and always points to the polling slot which is executed next.
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*/
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std::list<FixedSequenceSlot*>::iterator current;
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ReturnValue_t checkSequence() const;
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protected:
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/**
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* \brief This list contains all OPUSPollingSlot objects, defining order and execution time of the
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* device handler objects.
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*
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* \details The slot list is a std:list object that contains all created OPUSPollingSlot instances.
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* They are NOT ordered automatically, so by adding entries, the correct order needs to be ensured.
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* By iterating through this list the polling sequence is executed. Two entries with identical
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* polling times are executed immediately one after another.
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*/
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std::list<FixedSequenceSlot*> slotList;
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uint32_t lengthMs;
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};
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#endif /* FIXEDSLOTSEQUENCE_H_ */
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