new initializeSequence func

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -78,8 +78,8 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
 	return pst.getLengthMs();
 }
 
-ReturnValue_t FixedTimeslotTask::checkAndInitializeSequence() const {
-	return pst.checkAndInitializeSequence();
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
+	return pst.checkSequence();
 }
 
 void FixedTimeslotTask::taskFunctionality() {
@@ -87,6 +87,8 @@ void FixedTimeslotTask::taskFunctionality() {
     // start time for the first entry.
 	auto slotListIter = pst.current;
 
+	pst.intializeSequenceAfterTaskCreation();
+
 	//The start time for the first entry is read.
 	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);

osal/FreeRTOS/FixedTimeslotTask.h

@@ -54,7 +54,7 @@ public:
 
 	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t checkAndInitializeSequence() const override;
+	ReturnValue_t checkSequence() const override;
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 

osal/linux/FixedTimeslotTask.cpp

@@ -49,7 +49,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t FixedTimeslotTask::checkAndInitializeSequence() const {
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
 	return pst.checkSequence();
 }
 
@@ -58,6 +58,8 @@ void FixedTimeslotTask::taskFunctionality() {
 	if (!started) {
 		suspend();
 	}
+
+	pst.intializeSequenceAfterTaskCreation();
 	//The start time for the first entry is read.
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	uint64_t interval = pst.getIntervalToNextSlotMs();

osal/linux/FixedTimeslotTask.h

@@ -33,7 +33,7 @@ public:
 	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
 			int8_t executionStep);
 
-	virtual ReturnValue_t checkAndInitializeSequence() const;
+	virtual ReturnValue_t checkSequence() const;
 
 	/**
 	 * This static function can be used as #deadlineMissedFunc.

osal/linux/PeriodicPosixTask.cpp

@@ -52,6 +52,7 @@ void PeriodicPosixTask::taskFunctionality(void) {
 	if(!started){
 		suspend();
 	}
+
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	//The task's "infinite" inner loop is entered.
 	while (1) {

tasks/FixedSlotSequence.cpp

@@ -81,13 +81,20 @@ uint32_t FixedSlotSequence::getLengthMs() const {
 	return this->lengthMs;
 }
 
-ReturnValue_t FixedSlotSequence::checkAndInitializeSequence() const {
+void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+        int8_t executionStep, ExecutableObjectIF* executableObject,
+        PeriodicTaskIF* executingTask) {
+    this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
+            executionStep, executableObject, executingTask));
+   this->current = slotList.begin();
+}
+
+ReturnValue_t FixedSlotSequence::checkSequence() const {
 	if(slotList.empty()) {
 		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-	std::set<ExecutableObjectIF*> uniqueObjects;
 	uint32_t count = 0;
 	uint32_t time = 0;
 	for(const auto& slot: slotList) {
@@ -106,11 +113,7 @@ ReturnValue_t FixedSlotSequence::checkAndInitializeSequence() const {
 			//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
 		}
 		time = slot.pollingTimeMs;
-		// Ensure that each unique object is initialized once.
-		if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
-		    slot.executableObject->initializeAfterTaskCreation();
-		    uniqueObjects.emplace(slot.executableObject);
-		}
+
 	}
 	//sif::info << "Number of elements in slot list: "
 	//	   << slotList.size() << std::endl;
@@ -120,10 +123,25 @@ ReturnValue_t FixedSlotSequence::checkAndInitializeSequence() const {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-		int8_t executionStep, ExecutableObjectIF* executableObject,
-		PeriodicTaskIF* executingTask) {
-    this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
-            executionStep, executableObject, executingTask));
-   this->current = slotList.begin();
+
+ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
+    std::set<ExecutableObjectIF*> uniqueObjects;
+    uint32_t count = 0;
+    for(const auto& slot: slotList) {
+        // Ensure that each unique object is initialized once.
+        if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
+            ReturnValue_t result =
+                    slot.executableObject->initializeAfterTaskCreation();
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                count++;
+            }
+            uniqueObjects.emplace(slot.executableObject);
+        }
+    }
+    if (count > 0) {
+        sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
+                "Counted " << count << " failed initializations!"  << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }

tasks/FixedSlotSequence.h

@@ -132,7 +132,9 @@ public:
 	 * creation.
 	 * @return
 	 */
-	ReturnValue_t checkAndInitializeSequence() const;
+	ReturnValue_t checkSequence() const;
+
+	ReturnValue_t intializeSequenceAfterTaskCreation() const;
 
 protected:
 

tasks/FixedTimeslotTaskIF.h

@@ -27,7 +27,7 @@ public:
 	 * Check whether the sequence is valid and perform all other required
 	 * initialization steps which are needed after task creation
 	 */
-	virtual ReturnValue_t checkAndInitializeSequence() const = 0;
+	virtual ReturnValue_t checkSequence() const = 0;
 };
 
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */