moved timeslot files to task folder

implmented setting task IF for regular periodic tasks

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -62,11 +62,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
 	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		if(slotTimeMs == 0) {
-			// FreeRTOS throws a sanity error for zero values, so we set
-			// the time to one millisecond.
-			slotTimeMs = 1;
-		}
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -101,7 +96,9 @@ void FixedTimeslotTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 
 	// wait for first entry's start time
-	vTaskDelayUntil(&xLastWakeTime, interval);
+	if(interval > 0) {
+	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
 
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
@@ -137,3 +134,4 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
+

osal/FreeRTOS/FixedTimeslotTask.h

@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
@@ -49,13 +49,13 @@ public:
 	static uint32_t deadlineMissedCount;
 
 	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-			int8_t executionStep);
+			int8_t executionStep) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkSequence() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 protected:
 	bool started;

osal/FreeRTOS/PeriodicTask.cpp

@@ -70,9 +70,8 @@ void PeriodicTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const& object: objectList) {
+			object->performOperation();
 		}
 
 		/* If all operations are finished and the difference of the
@@ -93,12 +92,17 @@ void PeriodicTask::taskFunctionality() {
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implement ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }

osal/FreeRTOS/PeriodicTask.h

@@ -54,7 +54,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
@@ -63,11 +63,12 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	bool started;
 	TaskHandle_t handle;

osal/host/FixedTimeslotTask.h

@@ -2,7 +2,7 @@
 #define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 

osal/linux/PeriodicPosixTask.cpp

@@ -24,9 +24,14 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implements ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }

osal/linux/PeriodicPosixTask.h

@@ -39,7 +39,8 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
 	uint32_t getPeriodMs() const;
 

tasks/FixedSequenceSlot.cpp

@@ -1,19 +1,14 @@
-/**
- * @file	PollingSlot.cpp
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#include <framework/devicehandlers/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/tasks/FixedSequenceSlot.h>
 #include <cstddef>
 
 FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
 		int8_t setSequenceId, PeriodicTaskIF* executingTask) :
-		handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
+		pollingTimeMs(setTime), opcode(setSequenceId) {
 	handler = objectManager->get<ExecutableObjectIF>(handlerId);
-	handler->setTaskIF(executingTask);
+	if(executingTask != nullptr) {
+	    handler->setTaskIF(executingTask);
+	}
 }
 
 FixedSequenceSlot::~FixedSequenceSlot() {}

tasks/FixedSequenceSlot.h

@@ -1,22 +1,17 @@
-/**
- * @file	FixedSequenceSlot.h
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#ifndef FIXEDSEQUENCESLOT_H_
-#define FIXEDSEQUENCESLOT_H_
+#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
+#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
 class PeriodicTaskIF;
 
 /**
- * @brief	This class is the representation of a single polling sequence table entry.
- *
- * @details	The PollingSlot class is the representation of a single polling
- * 			sequence table entry.
+ * @brief	This class is the representation of a single polling sequence
+ *          table entry.
+ * @details
+ * The PollingSlot class is the representation of a single polling
+ * sequence table entry.
+ * @author  baetz
  */
 class FixedSequenceSlot {
 public:
@@ -27,7 +22,7 @@ public:
 	/**
 	 * @brief	Handler identifies which device handler object is executed in this slot.
 	 */
-	ExecutableObjectIF*	handler;
+	ExecutableObjectIF*	handler = nullptr;
 
 	/**
 	 * @brief	This attribute defines when a device handler object is executed.
@@ -43,7 +38,7 @@ public:
 	 * @details	The state of this value decides what communication routine is
 	 * 			called in the PST executable or the device handler object.
 	 */
-	uint8_t			opcode;
+	uint8_t	opcode;
 
 	/**
 	 * @brief 	Operator overload for the comparison operator to

tasks/FixedSlotSequence.cpp

@@ -1,5 +1,5 @@
-#include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/FixedSlotSequence.h>
 #include <cstdlib>
 
 FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :

tasks/FixedSlotSequence.h

@@ -1,8 +1,8 @@
-#ifndef FIXEDSLOTSEQUENCE_H_
-#define FIXEDSLOTSEQUENCE_H_
+#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
 
-#include <framework/devicehandlers/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObject.h>
+#include <framework/tasks/FixedSequenceSlot.h>
 
 #include <set>
 

tasks/FixedTimeslotTaskIF.h

@@ -12,11 +12,18 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
 	virtual ~FixedTimeslotTaskIF() {}
 
+	/**
+	 * Add an object with a slot time and the execution step to the task.
+	 * The execution step shall be passed to the object.
+	 * @param componentId
+	 * @param slotTimeMs
+	 * @param executionStep
+	 * @return
+	 */
 	virtual ReturnValue_t addSlot(object_id_t componentId,
 			uint32_t slotTimeMs, int8_t executionStep) = 0;
+	/** Check whether the sequence is valid */
 	virtual ReturnValue_t checkSequence() const = 0;
 };
 
-
-
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */

tasks/PeriodicTaskIF.h

@@ -1,9 +1,11 @@
-#ifndef PERIODICTASKIF_H_
-#define PERIODICTASKIF_H_
+#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
+#define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/timemanager/Clock.h>
 #include <cstddef>
 class ExecutableObjectIF;
+
 /**
  * New version of TaskIF
  * Follows RAII principles, i.e. there's no create or delete method.
@@ -17,11 +19,27 @@ public:
 	 */
 	virtual ~PeriodicTaskIF() { }
 	/**
-	 * @brief	With the startTask method, a created task can be started for the first time.
+	 * @brief	With the startTask method, a created task can be started
+	 *          for the first time.
 	 */
 	virtual ReturnValue_t startTask() = 0;
 
-	virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
+	/**
+	 * Add a component (object) to a periodic task. The pointer to the
+	 * task can be set optionally
+	 * @param object
+	 * Add an object to the task. The most important case is to add an
+	 * executable object with a function which will be called regularly
+	 * (see ExecutableObjectIF)
+	 * @param setTaskIF
+	 * Can be used to specify whether the task object pointer is passed
+	 * to the component.
+	 * @return
+	 */
+	virtual ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 
 	virtual ReturnValue_t sleepFor(uint32_t ms) = 0;