137 lines
4.5 KiB
C++
137 lines
4.5 KiB
C++
#include "PeriodicTask.h"
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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void (*setDeadlineMissedFunc)()) :
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started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
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setDeadlineMissedFunc)
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{
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BaseType_t status = xTaskCreate(taskEntryPoint, name,
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setStack, this, setPriority, &handle);
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if(status != pdPASS){
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sif::debug << "PeriodicTask Insufficient heap memory remaining. "
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"Status: " << status << std::endl;
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}
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}
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PeriodicTask::~PeriodicTask(void) {
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//Do not delete objects, we were responsible for ptrs only.
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}
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void PeriodicTask::taskEntryPoint(void* argument) {
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// The argument is re-interpreted as PeriodicTask. The Task object is
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// global, so it is found from any place.
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PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
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/* Task should not start until explicitly requested,
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* but in FreeRTOS, tasks start as soon as they are created if the scheduler
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* is running but not if the scheduler is not running.
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* To be able to accommodate both cases we check a member which is set in
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* #startTask(). If it is not set and we get here, the scheduler was started
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* before #startTask() was called and we need to suspend if it is set,
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* the scheduler was not running before #startTask() was called and we
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* can continue */
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if (not originalTask->started) {
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vTaskSuspend(NULL);
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}
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originalTask->taskFunctionality();
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sif::debug << "Polling task " << originalTask->handle
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<< " returned from taskFunctionality." << std::endl;
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}
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ReturnValue_t PeriodicTask::startTask() {
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started = true;
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// We must not call resume if scheduler is not started yet
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
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vTaskResume(handle);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
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vTaskDelay(pdMS_TO_TICKS(ms));
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PeriodicTask::taskFunctionality() {
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TickType_t xLastWakeTime;
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const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
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/* The xLastWakeTime variable needs to be initialized with the current tick
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count. Note that this is the only time the variable is written to
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explicitly. After this assignment, xLastWakeTime is updated automatically
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internally within vTaskDelayUntil(). */
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xLastWakeTime = xTaskGetTickCount();
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/* Enter the loop that defines the task behavior. */
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for (;;) {
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for (auto const& object: objectList) {
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object->performOperation();
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}
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checkMissedDeadline(xLastWakeTime, xPeriod);
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vTaskDelayUntil(&xLastWakeTime, xPeriod);
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}
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}
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ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
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ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
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object);
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if (newObject == nullptr) {
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sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
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"it implements ExecutableObjectIF!" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back(newObject);
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if(setTaskIF) {
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newObject->setTaskIF(this);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PeriodicTask::getPeriodMs() const {
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return period * 1000;
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}
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void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval) {
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/* Check whether deadline was missed while also taking overflows
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* into account. Drawing this on paper with a timeline helps to understand
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* it. */
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TickType_t currentTickCount = xTaskGetTickCount();
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TickType_t timeToWake = xLastWakeTime + interval;
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// Tick count has overflown
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if(currentTickCount < xLastWakeTime) {
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// Time to wake has overflown as well. If the tick count
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// is larger than the time to wake, a deadline was missed.
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if(timeToWake < xLastWakeTime and
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currentTickCount > timeToWake) {
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handleMissedDeadline();
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}
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}
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// No tick count overflow. If the timeToWake has not overflown
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// and the current tick count is larger than the time to wake,
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// a deadline was missed.
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else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
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handleMissedDeadline();
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}
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}
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void PeriodicTask::handleMissedDeadline() {
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#ifdef DEBUG
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sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
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" missed deadline!\n" << std::flush;
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#endif
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if(deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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}
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