86 lines
2.9 KiB
C++
86 lines
2.9 KiB
C++
#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include "PeriodicTask.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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xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
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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 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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// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
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// 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 #startTask()
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// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
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// if it is set, the scheduler was not running before #startTask() was called and we can continue
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if (!originalTask->started) {
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vTaskSuspend(NULL);
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}
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originalTask->taskFunctionality();
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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 explicitly.
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After this assignment, xLastWakeTime is updated automatically internally within
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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 (ObjectList::iterator it = objectList.begin();
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it != objectList.end(); ++it) {
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(*it)->performOperation();
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}
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//TODO deadline missed check
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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) {
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ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
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object);
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if (newObject == NULL) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back(newObject);
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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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