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@ -25,118 +25,116 @@
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
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size_t setStack, uint32_t setOverallPeriod,
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void (*setDeadlineMissedFunc)()) :
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RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(
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setOverallPeriod) {
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// All additional attributes are applied to the object.
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this->deadlineMissedFunc = setDeadlineMissedFunc;
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size_t setStack, uint32_t setOverallPeriod, void (*setDeadlineMissedFunc)(void)):
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RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
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// All additional attributes are applied to the object.
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this->deadlineMissedFunc = setDeadlineMissedFunc;
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}
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FixedTimeslotTask::~FixedTimeslotTask() {
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}
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rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
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//The argument is re-interpreted as PollingTask.
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FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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//The task's functionality is called.
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return originalTask->taskFunctionality();
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/* Should never be reached */
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/* The argument is re-interpreted as a FixedTimeslotTask */
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FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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/* The task's functionality is called. */
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return originalTask->taskFunctionality();
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/* Should never be reached */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality." <<
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std::endl;
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sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality." <<
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std::endl;
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#endif
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}
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void FixedTimeslotTask::missedDeadlineCounter() {
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FixedTimeslotTask::deadlineMissedCount++;
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if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
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FixedTimeslotTask::deadlineMissedCount++;
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if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
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<< " deadlines." << std::endl;
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sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
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<< " deadlines." << std::endl;
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#endif
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}
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}
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}
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ReturnValue_t FixedTimeslotTask::startTask() {
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rtems_status_code status = rtems_task_start(id, FixedTimeslotTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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rtems_status_code status = rtems_task_start(id, FixedTimeslotTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PollingTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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sif::error << "PollingTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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#endif
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}
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switch(status){
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case RTEMS_SUCCESSFUL:
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//ask started successfully
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return HasReturnvaluesIF::RETURN_OK;
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default:
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/* RTEMS_INVALID_ADDRESS - invalid task entry point
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}
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switch(status){
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case RTEMS_SUCCESSFUL:
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//ask started successfully
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return HasReturnvaluesIF::RETURN_OK;
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default:
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/*
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RTEMS_INVALID_ADDRESS - invalid task entry point
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RTEMS_INVALID_ID - invalid task id
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RTEMS_INCORRECT_STATE - task not in the dormant state
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RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
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uint32_t slotTimeMs, int8_t executionStep) {
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ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
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if (object != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t slotTimeMs, int8_t executionStep) {
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ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
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if (object != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Component " << std::hex << componentId <<
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" not found, not adding it to pst" << std::endl;
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sif::error << "Component " << std::hex << componentId <<
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" not found, not adding it to pst" << std::endl;
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint32_t FixedTimeslotTask::getPeriodMs() const {
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return pst.getLengthMs();
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return pst.getLengthMs();
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}
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ReturnValue_t FixedTimeslotTask::checkSequence() const {
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return pst.checkSequence();
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return pst.checkSequence();
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}
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void FixedTimeslotTask::taskFunctionality() {
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/* A local iterator for the Polling Sequence Table is created to find the start time for
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/* A local iterator for the Polling Sequence Table is created to find the start time for
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the first entry. */
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FixedSlotSequence::SlotListIter it = pst.current;
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FixedSlotSequence::SlotListIter it = pst.current;
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/* Initialize the PST with the correct calling task */
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pst.intializeSequenceAfterTaskCreation();
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/* Initialize the PST with the correct calling task */
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pst.intializeSequenceAfterTaskCreation();
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/* The start time for the first entry is read. */
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rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
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RTEMSTaskBase::setAndStartPeriod(interval,&periodId);
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//The task's "infinite" inner loop is entered.
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while (1) {
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if (pst.slotFollowsImmediately()) {
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//Do nothing
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}
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else {
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//The interval for the next polling slot is selected.
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interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
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//The period is checked and restarted with the new interval.
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//If the deadline was missed, the deadlineMissedFunc is called.
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rtems_status_code status = RTEMSTaskBase::restartPeriod(interval,periodId);
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if (status == RTEMS_TIMEOUT) {
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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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//The device handler for this slot is executed and the next one is chosen.
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this->pst.executeAndAdvance();
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}
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/* The start time for the first entry is read. */
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rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
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RTEMSTaskBase::setAndStartPeriod(interval,&periodId);
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//The task's "infinite" inner loop is entered.
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while (1) {
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if (pst.slotFollowsImmediately()) {
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/* Do nothing */
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}
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else {
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/* The interval for the next polling slot is selected. */
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interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
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/* The period is checked and restarted with the new interval.
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If the deadline was missed, the deadlineMissedFunc is called. */
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rtems_status_code status = RTEMSTaskBase::restartPeriod(interval,periodId);
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if (status == RTEMS_TIMEOUT) {
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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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/* The device handler for this slot is executed and the next one is chosen. */
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this->pst.executeAndAdvance();
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}
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}
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ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms){
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return RTEMSTaskBase::sleepFor(ms);
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return RTEMSTaskBase::sleepFor(ms);
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};
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@ -8,74 +8,74 @@
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class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
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public:
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/**
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* @brief The standard constructor of the class.
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* @details
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* This is the general constructor of the class. In addition to the TaskBase parameters,
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* the following variables are passed:
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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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* @param getPst The object id of the completely initialized polling sequence.
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*/
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FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize,
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uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
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* @brief The standard constructor of the class.
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* @details
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* This is the general constructor of the class. In addition to the TaskBase parameters,
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* the following variables are passed:
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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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* @param getPst The object id of the completely initialized polling sequence.
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*/
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FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize,
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uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
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/**
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* @brief The destructor of the class.
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* @details
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* The destructor frees all heap memory that was allocated on thread initialization
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* for the PST andthe device handlers. This is done by calling the PST's destructor.
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*/
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virtual ~FixedTimeslotTask( void );
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/**
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* @brief The destructor of the class.
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* @details
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* The destructor frees all heap memory that was allocated on thread initialization
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* for the PST andthe device handlers. This is done by calling the PST's destructor.
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*/
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virtual ~FixedTimeslotTask( void );
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ReturnValue_t startTask( void );
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/**
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* This static function can be used as #deadlineMissedFunc.
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* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
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*/
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static void missedDeadlineCounter();
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/**
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* A helper variable to count missed deadlines.
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*/
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static uint32_t deadlineMissedCount;
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ReturnValue_t startTask( void );
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/**
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* This static function can be used as #deadlineMissedFunc.
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* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
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*/
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static void missedDeadlineCounter();
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/**
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* A helper variable to count missed deadlines.
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*/
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static uint32_t deadlineMissedCount;
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
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uint32_t getPeriodMs() const;
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uint32_t getPeriodMs() const;
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ReturnValue_t checkSequence() const;
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ReturnValue_t checkSequence() const;
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ReturnValue_t sleepFor(uint32_t ms);
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ReturnValue_t sleepFor(uint32_t ms);
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protected:
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/**
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* @brief id of the associated OS period
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*/
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rtems_id periodId;
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/**
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* @brief id of the associated OS period
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*/
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rtems_id periodId;
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FixedSlotSequence pst;
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FixedSlotSequence pst;
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/**
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* @brief This attribute holds a function pointer that is executed when a deadline was missed.
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*
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* @details
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* Another function may be announced to determine the actions to perform when a deadline
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* was missed. Currently, only one function for missing any deadline is allowed.
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* If not used, it shall be declared NULL.
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*/
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void ( *deadlineMissedFunc )( void ) = nullptr;
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/**
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* @brief This is the entry point in a new polling thread.
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* @details This method is the entry point in the new thread
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*/
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static rtems_task taskEntryPoint( rtems_task_argument argument );
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/**
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* @brief This attribute holds a function pointer that is executed when a deadline was missed.
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*
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* @details
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* Another function may be announced to determine the actions to perform when a deadline
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* was missed. Currently, only one function for missing any deadline is allowed.
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* If not used, it shall be declared NULL.
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*/
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void ( *deadlineMissedFunc )( void ) = nullptr;
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/**
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* @brief This is the entry point in a new polling thread.
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* @details This method is the entry point in the new thread
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*/
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static rtems_task taskEntryPoint( rtems_task_argument argument );
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/**
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* @brief This function holds the main functionality of the thread.
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* @details
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* Holding the main functionality of the task, this method is most important.
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* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
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* keep the timing of the periods.
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*/
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void taskFunctionality( void );
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/**
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* @brief This function holds the main functionality of the thread.
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* @details
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* Holding the main functionality of the task, this method is most important.
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* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
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* keep the timing of the periods.
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*/
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void taskFunctionality( void );
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};
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#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */
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