Merge pull request 'FreeRTOS PeriodicTask improvement' (#116) from KSat/fsfw:mueller_PeriodicTaskImprovements into master
This commit is contained in:
commit
b74fbbddb9
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@ -1,17 +1,19 @@
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#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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#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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BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
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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. Status: "
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<< status << std::endl;
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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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@ -21,16 +23,19 @@ PeriodicTask::~PeriodicTask(void) {
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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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// 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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// 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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/* 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 (!originalTask->started) {
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if (not originalTask->started) {
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vTaskSuspend(NULL);
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}
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@ -59,31 +64,73 @@ 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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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 (ObjectList::iterator it = objectList.begin();
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it != objectList.end(); ++it) {
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(*it)->performOperation();
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for (auto const& object: objectList) {
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object->performOperation();
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}
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//TODO deadline missed check
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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) {
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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 == NULL) {
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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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@ -1,48 +1,49 @@
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#ifndef MULTIOBJECTTASK_H_
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#define MULTIOBJECTTASK_H_
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#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
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#include <framework/objectmanager/ObjectManagerIF.h>
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#include <framework/tasks/PeriodicTaskIF.h>
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#include <framework/tasks/Typedef.h>
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#include <FreeRTOS.h>
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#include "task.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <vector>
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class ExecutableObjectIF;
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/**
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* @brief This class represents a specialized task for periodic activities of multiple objects.
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*
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* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
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* multiple objects that implement the ExecutableObjectIF interface. The objects must be
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* added prior to starting the task.
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*
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* @brief This class represents a specialized task for
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* periodic activities of multiple objects.
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* @ingroup task_handling
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*/
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class PeriodicTask: public PeriodicTaskIF {
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public:
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/**
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* @brief Standard constructor of the class.
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* @details The class is initialized without allocated objects. These need to be added
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* with #addObject.
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* In the underlying TaskBase class, a new operating system task is created.
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* In addition to the TaskBase parameters, the period, the pointer to the
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* aforementioned initialization function and an optional "deadline-missed"
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* function pointer is passed.
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* @param priority Sets the priority of a task. Values range from a low 0 to a high 99.
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* @param stack_size The stack size reserved by the operating system for the task.
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* @param setPeriod The length of the period with which the task's functionality will be
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* executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc The function pointer to the deadline missed function
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* that shall be assigned.
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* Keep in Mind that you need to call before this vTaskStartScheduler()!
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* A lot of task parameters are set in "FreeRTOSConfig.h".
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* TODO: why does this need to be called before vTaskStartScheduler?
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* @details
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* The class is initialized without allocated objects.
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* These need to be added with #addComponent.
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* @param priority
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* Sets the priority of a task. Values depend on freeRTOS configuration,
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* high number means high priority.
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* @param stack_size
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* The stack size reserved by the operating system for the task.
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* @param setPeriod
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* The length of the period with which the task's
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* functionality will be executed. It is expressed in clock ticks.
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* @param setDeadlineMissedFunc
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* The function pointer to the deadline missed function that shall
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* be assigned.
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*/
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PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod,
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void (*setDeadlineMissedFunc)());
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PeriodicTask(const char *name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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void (*setDeadlineMissedFunc)());
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/**
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* @brief Currently, the executed object's lifetime is not coupled with the task object's
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* lifetime, so the destructor is empty.
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* @brief Currently, the executed object's lifetime is not coupled with
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* the task object's lifetime, so the destructor is empty.
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*/
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virtual ~PeriodicTask(void);
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@ -53,58 +54,72 @@ public:
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* The address of the task object is passed as an argument
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* to the system call.
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*/
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ReturnValue_t startTask(void);
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ReturnValue_t startTask() override;
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/**
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* Adds an object to the list of objects to be executed.
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* The objects are executed in the order added.
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* @param object Id of the object to add.
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* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
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* @return
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* -@c RETURN_OK on success
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* -@c RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(object_id_t object);
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ReturnValue_t addComponent(object_id_t object,
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bool setTaskIF = true) override;
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uint32_t getPeriodMs() const;
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uint32_t getPeriodMs() const override;
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ReturnValue_t sleepFor(uint32_t ms);
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ReturnValue_t sleepFor(uint32_t ms) override;
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protected:
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bool started;
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TaskHandle_t handle;
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typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
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//! Typedef for the List of objects.
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typedef std::vector<ExecutableObjectIF*> ObjectList;
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/**
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* @brief This attribute holds a list of objects to be executed.
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*/
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ObjectList objectList;
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/**
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* @brief The period of the task.
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* @details The period determines the frequency of the task's execution. It is expressed in clock ticks.
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* @details
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* The period determines the frequency of the task's execution.
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* It is expressed in clock ticks.
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*/
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TaskPeriod period;
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/**
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* @brief The pointer to the deadline-missed function.
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* @details This pointer stores the function that is executed if the task's deadline is missed.
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* So, each may react individually on a timing failure. The pointer may be NULL,
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* then nothing happens on missing the deadline. The deadline is equal to the next execution
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* of the periodic task.
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* @details
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* This pointer stores the function that is executed if the task's deadline
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* is missed so each may react individually on a timing failure.
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* The pointer may be NULL, then nothing happens on missing the deadline.
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* The deadline is equal to the next execution of the periodic task.
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*/
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void (*deadlineMissedFunc)(void);
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/**
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* @brief This is the function executed in the new task's context.
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* @details It converts the argument back to the thread object type and copies the class instance
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* to the task context. The taskFunctionality method is called afterwards.
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* @details
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* It converts the argument back to the thread object type and copies the
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* class instance to the task context. The taskFunctionality method is
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* called afterwards.
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* @param A pointer to the task object itself is passed as argument.
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*/
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static void taskEntryPoint(void* argument);
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/**
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* @brief The function containing the actual functionality of the task.
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* @details The method sets and starts
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* the task's period, then enters a loop that is repeated as long as the isRunning
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* attribute is true. Within the loop, all performOperation methods of the added
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* objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
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* until the next period.
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* On missing the deadline, the deadlineMissedFunction is executed.
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* @details
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* The method sets and starts the task's period, then enters a loop that is
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* repeated as long as the isRunning attribute is true. Within the loop,
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* all performOperation methods of the added objects are called.
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* Afterwards the checkAndRestartPeriod system call blocks the task until
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* the next period.
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* On missing the deadline, the deadlineMissedFunction is executed.
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*/
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void taskFunctionality(void);
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void checkMissedDeadline(const TickType_t xLastWakeTime,
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const TickType_t interval);
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void handleMissedDeadline();
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};
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#endif /* MULTIOBJECTTASK_H_ */
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#endif /* PERIODICTASK_H_ */
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@ -21,13 +21,18 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
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return NULL;
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}
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ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
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ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
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bool addTaskIF) {
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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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if (newObject == nullptr) {
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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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@ -39,11 +39,12 @@ public:
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* @param object Id of the object to add.
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* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
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*/
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ReturnValue_t addComponent(object_id_t object);
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ReturnValue_t addComponent(object_id_t object,
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bool addTaskIF = true) override;
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uint32_t getPeriodMs() const;
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uint32_t getPeriodMs() const override;
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ReturnValue_t sleepFor(uint32_t ms);
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ReturnValue_t sleepFor(uint32_t ms) override;
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private:
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typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
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@ -1,9 +1,11 @@
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#ifndef PERIODICTASKIF_H_
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#define PERIODICTASKIF_H_
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#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
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#define FRAMEWORK_TASK_PERIODICTASKIF_H_
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#include <framework/objectmanager/SystemObjectIF.h>
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#include <framework/timemanager/Clock.h>
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#include <cstddef>
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class ExecutableObjectIF;
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/**
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* New version of TaskIF
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* Follows RAII principles, i.e. there's no create or delete method.
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@ -17,11 +19,27 @@ public:
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*/
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virtual ~PeriodicTaskIF() { }
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/**
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* @brief With the startTask method, a created task can be started for the first time.
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* @brief With the startTask method, a created task can be started
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* for the first time.
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*/
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virtual ReturnValue_t startTask() = 0;
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virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
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/**
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* Add a component (object) to a periodic task. The pointer to the
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* task can be set optionally
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* @param object
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* Add an object to the task. The most important case is to add an
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* executable object with a function which will be called regularly
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* (see ExecutableObjectIF)
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* @param setTaskIF
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* Can be used to specify whether the task object pointer is passed
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* to the component.
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* @return
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*/
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virtual ReturnValue_t addComponent(object_id_t object,
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bool setTaskIF = true) {
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return HasReturnvaluesIF::RETURN_FAILED;
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};
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virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
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