58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
#include <fsfw/objectmanager/ObjectManager.h>
|
|
#include "PeriodicTaskBase.h"
|
|
|
|
#include <set>
|
|
|
|
PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_,
|
|
TaskDeadlineMissedFunction deadlineMissedFunc_)
|
|
: periodMs(periodMs_), deadlineMissedFunc(deadlineMissedFunc_) {}
|
|
|
|
uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; }
|
|
|
|
bool PeriodicTaskBase::isEmpty() const {
|
|
return objectList.empty();
|
|
}
|
|
|
|
ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
|
|
std::multiset<ExecutableObjectIF*> uniqueObjects;
|
|
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
|
|
uint32_t count = 0;
|
|
for (const auto& obj : objectList) {
|
|
// Ensure that each unique object is initialized once.
|
|
if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
|
|
ReturnValue_t result = obj.first->initializeAfterTaskCreation();
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
count++;
|
|
status = result;
|
|
}
|
|
uniqueObjects.emplace(obj.first);
|
|
}
|
|
}
|
|
if (count > 0) {
|
|
}
|
|
return status;
|
|
}
|
|
|
|
ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
|
|
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
|
|
return addComponent(newObject, opCode);
|
|
}
|
|
|
|
ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
|
|
if (object == nullptr) {
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
|
|
<< " it implements ExecutableObjectIF!" << std::endl;
|
|
#else
|
|
sif::printError(
|
|
"PeriodicTask::addComponent: Invalid object. Make sure it "
|
|
"implements ExecutableObjectIF!\n");
|
|
#endif
|
|
return HasReturnvaluesIF::RETURN_FAILED;
|
|
}
|
|
objectList.push_back({object, opCode});
|
|
object->setTaskIF(this);
|
|
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|