62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
#include "fsfw/osal/linux/PeriodicPosixTask.h"
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#include <set>
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#include <cerrno>
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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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PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
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uint32_t period_, TaskDeadlineMissedFunction dlMissedFunc_)
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: PosixThread(name_, priority_, stackSize_),
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PeriodicTaskBase(period_, dlMissedFunc_),
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started(false) {}
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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 nullptr;
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}
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ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
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return PosixThread::sleep(static_cast<uint64_t>(ms * 1000000));
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}
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ReturnValue_t PeriodicPosixTask::startTask(void) {
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if (isEmpty()) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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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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void PeriodicPosixTask::taskFunctionality(void) {
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if (not started) {
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suspend();
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}
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initObjsAfterTaskCreation();
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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 (auto const& objOpCodePair : objectList) {
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objOpCodePair.first->performOperation(objOpCodePair.second);
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}
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if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
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if (this->deadlineMissedFunc != nullptr) {
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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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