111 lines
3.3 KiB
C++
111 lines
3.3 KiB
C++
#include "fsfw/osal/linux/PeriodicPosixTask.h"
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#include <set>
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#include <cerrno>
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
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uint32_t period_, void(deadlineMissedFunc_)())
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: PosixThread(name_, priority_, stackSize_),
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objectList(),
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started(false),
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periodMs(period_),
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deadlineMissedFunc(deadlineMissedFunc_) {}
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PeriodicPosixTask::~PeriodicPosixTask() {
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// Not Implemented
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}
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void* PeriodicPosixTask::taskEntryPoint(void* arg) {
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// The argument is re-interpreted as PollingTask.
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PeriodicPosixTask* originalTask(reinterpret_cast<PeriodicPosixTask*>(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 PeriodicPosixTask::addComponent(object_id_t object, uint8_t opCode) {
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ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
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return addComponent(newObject, opCode);
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}
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ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
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if (object == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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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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#else
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sif::printError(
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"PeriodicTask::addComponent: Invalid object. Make sure it "
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"implements ExecutableObjectIF!\n");
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back({object, opCode});
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object->setTaskIF(this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
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return PosixThread::sleep((uint64_t)ms * 1000000);
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}
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ReturnValue_t PeriodicPosixTask::startTask(void) {
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if (isEmpty()) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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started = true;
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PosixThread::createTask(&taskEntryPoint, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PeriodicPosixTask::taskFunctionality(void) {
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if (not started) {
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suspend();
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}
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initObjsAfterTaskCreation();
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uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
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// The task's "infinite" inner loop is entered.
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while (1) {
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for (auto const& objOpCodePair : objectList) {
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objOpCodePair.first->performOperation(objOpCodePair.second);
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}
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if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
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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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}
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uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }
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bool PeriodicPosixTask::isEmpty() const { return objectList.empty(); }
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ReturnValue_t PeriodicPosixTask::initObjsAfterTaskCreation() {
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std::multiset<ExecutableObjectIF*> uniqueObjects;
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ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
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uint32_t count = 0;
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for (const auto& obj : objectList) {
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// Ensure that each unique object is initialized once.
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if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
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ReturnValue_t result = obj.first->initializeAfterTaskCreation();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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count++;
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status = result;
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}
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uniqueObjects.emplace(obj.first);
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}
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}
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if (count > 0) {
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}
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return status;
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}
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