95 lines
2.8 KiB
C++
95 lines
2.8 KiB
C++
#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <unistd.h>
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#include <limits.h>
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#include <signal.h>
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#include <errno.h>
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#include <framework/osal/linux/FixedTimeslotTask.h>
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
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FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_,
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size_t stackSize_, uint32_t periodMs_):
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PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) {
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}
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FixedTimeslotTask::~FixedTimeslotTask() {
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}
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void* FixedTimeslotTask::taskEntryPoint(void* arg) {
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//The argument is re-interpreted as PollingTask.
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FixedTimeslotTask *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 NULL;
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}
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ReturnValue_t FixedTimeslotTask::startTask() {
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started = true;
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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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uint32_t FixedTimeslotTask::getPeriodMs() const {
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return pst.getLengthMs();
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}
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ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
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uint32_t slotTimeMs, int8_t executionStep) {
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if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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sif::error << "Component " << std::hex << componentId <<
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" not found, not adding it to pst" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t FixedTimeslotTask::checkSequence() const {
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return pst.checkSequence();
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}
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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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suspend();
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}
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//The start time for the first entry is read.
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uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
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uint64_t interval = pst.getIntervalToNextSlotMs();
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//The task's "infinite" inner loop is entered.
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while (1) {
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if (pst.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 = this->pst.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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missedDeadlineCounter();
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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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this->pst.executeAndAdvance();
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}
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}
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void FixedTimeslotTask::missedDeadlineCounter() {
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FixedTimeslotTask::deadlineMissedCount++;
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if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
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sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
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<< " deadlines." << std::endl;
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}
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}
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