134 lines
4.9 KiB
C++
134 lines
4.9 KiB
C++
#include "fsfw/osal/rtems/FixedTimeslotTask.h"
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#include <rtems/bspIo.h>
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#include <rtems/io.h>
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#include <rtems/rtems/ratemon.h>
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#include <rtems/rtems/status.h>
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#include <rtems/rtems/tasks.h>
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#include <rtems/rtems/types.h>
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#include <sys/_stdint.h>
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/objectmanager/SystemObjectIF.h"
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#include "fsfw/osal/rtems/RtemsBasic.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/tasks/FixedSequenceSlot.h"
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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#include <iostream>
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#endif
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#include <cstddef>
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#include <list>
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
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size_t setStack, uint32_t setOverallPeriod,
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void (*setDeadlineMissedFunc)(void))
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: RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
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// All additional attributes are applied to the object.
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this->deadlineMissedFunc = setDeadlineMissedFunc;
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}
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FixedTimeslotTask::~FixedTimeslotTask() {}
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rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
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/* The argument is re-interpreted as a FixedTimeslotTask */
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FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
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/* The task's functionality is called. */
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return originalTask->taskFunctionality();
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/* Should never be reached */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality."
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<< std::endl;
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#endif
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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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ReturnValue_t FixedTimeslotTask::startTask() {
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rtems_status_code status =
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rtems_task_start(id, FixedTimeslotTask::taskEntryPoint, rtems_task_argument((void *)this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PollingTask::startTask for " << std::hex << this->getId() << std::dec
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<< " failed." << std::endl;
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#endif
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}
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switch (status) {
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case RTEMS_SUCCESSFUL:
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// ask started successfully
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return HasReturnvaluesIF::RETURN_OK;
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default:
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/*
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RTEMS_INVALID_ADDRESS - invalid task entry point
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RTEMS_INVALID_ID - invalid task id
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RTEMS_INCORRECT_STATE - task not in the dormant state
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RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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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 *object = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
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if (object != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, object, 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::endl;
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
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ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
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void FixedTimeslotTask::taskFunctionality() {
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/* A local iterator for the Polling Sequence Table is created to find the start time for
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the first entry. */
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FixedSlotSequence::SlotListIter it = pst.current;
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/* Initialize the PST with the correct calling task */
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pst.intializeSequenceAfterTaskCreation();
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/* The start time for the first entry is read. */
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rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
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RTEMSTaskBase::setAndStartPeriod(interval, &periodId);
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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 = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
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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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rtems_status_code status = RTEMSTaskBase::restartPeriod(interval, periodId);
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if (status == RTEMS_TIMEOUT) {
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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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/* 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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ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) { return RTEMSTaskBase::sleepFor(ms); };
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