95 lines
3.2 KiB
C++
95 lines
3.2 KiB
C++
#include "fsfw/osal/linux/FixedTimeslotTask.h"
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#include <limits.h>
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.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_, size_t stackSize_,
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uint32_t periodMs_)
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: PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
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FixedTimeslotTask::~FixedTimeslotTask() {}
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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 nullptr;
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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 { return pst.getLengthMs(); }
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ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep) {
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ExecutableObjectIF* executableObject =
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ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
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if (executableObject != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
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<< std::dec << std::endl;
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
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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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pst.intializeSequenceAfterTaskCreation();
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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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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
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<< std::endl;
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#endif
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}
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}
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