123 lines
3.9 KiB
C++
123 lines
3.9 KiB
C++
#include "../../devicehandlers/FixedSequenceSlot.h"
|
|
#include "../../objectmanager/SystemObjectIF.h"
|
|
#include "PollingTask.h"
|
|
#include "RtemsBasic.h"
|
|
#include "../../returnvalues/HasReturnvaluesIF.h"
|
|
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
|
#include <rtems/bspIo.h>
|
|
#include <rtems/rtems/ratemon.h>
|
|
#include <rtems/rtems/status.h>
|
|
#include <rtems/rtems/tasks.h>
|
|
#include <rtems/rtems/types.h>
|
|
#include <stddef.h>
|
|
#include <sys/_stdint.h>
|
|
#include <iostream>
|
|
#include <list>
|
|
|
|
uint32_t PollingTask::deadlineMissedCount = 0;
|
|
|
|
PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
|
|
size_t setStack, uint32_t setOverallPeriod,
|
|
void (*setDeadlineMissedFunc)()) :
|
|
TaskBase(setPriority, setStack, name), periodId(0), pst(
|
|
setOverallPeriod) {
|
|
// All additional attributes are applied to the object.
|
|
this->deadlineMissedFunc = setDeadlineMissedFunc;
|
|
}
|
|
|
|
PollingTask::~PollingTask() {
|
|
}
|
|
|
|
rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
|
|
|
|
//The argument is re-interpreted as PollingTask.
|
|
PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
|
|
//The task's functionality is called.
|
|
originalTask->taskFunctionality();
|
|
debug << "Polling task " << originalTask->getId()
|
|
<< " returned from taskFunctionality." << std::endl;
|
|
}
|
|
|
|
void PollingTask::missedDeadlineCounter() {
|
|
PollingTask::deadlineMissedCount++;
|
|
if (PollingTask::deadlineMissedCount % 10 == 0) {
|
|
error << "PST missed " << PollingTask::deadlineMissedCount
|
|
<< " deadlines." << std::endl;
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PollingTask::startTask() {
|
|
rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
|
|
rtems_task_argument((void *) this));
|
|
if (status != RTEMS_SUCCESSFUL) {
|
|
error << "PollingTask::startTask for " << std::hex << this->getId()
|
|
<< std::dec << " failed." << std::endl;
|
|
}
|
|
switch(status){
|
|
case RTEMS_SUCCESSFUL:
|
|
//ask started successfully
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
default:
|
|
/* RTEMS_INVALID_ADDRESS - invalid task entry point
|
|
RTEMS_INVALID_ID - invalid task id
|
|
RTEMS_INCORRECT_STATE - task not in the dormant state
|
|
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
|
|
return HasReturnvaluesIF::RETURN_FAILED;
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PollingTask::addSlot(object_id_t componentId,
|
|
uint32_t slotTimeMs, int8_t executionStep) {
|
|
if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
|
|
pst.addSlot(componentId, slotTimeMs, executionStep, this);
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
error << "Component " << std::hex << componentId <<
|
|
" not found, not adding it to pst" << std::endl;
|
|
return HasReturnvaluesIF::RETURN_FAILED;
|
|
}
|
|
|
|
uint32_t PollingTask::getPeriodMs() const {
|
|
return pst.getLengthMs();
|
|
}
|
|
|
|
ReturnValue_t PollingTask::checkSequence() const {
|
|
return pst.checkSequence();
|
|
}
|
|
|
|
#include <rtems/io.h>
|
|
|
|
void PollingTask::taskFunctionality() {
|
|
// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
|
|
std::list<FixedSequenceSlot*>::iterator it = pst.current;
|
|
|
|
//The start time for the first entry is read.
|
|
rtems_interval interval = RtemsBasic::convertMsToTicks(
|
|
(*it)->pollingTimeMs);
|
|
TaskBase::setAndStartPeriod(interval,&periodId);
|
|
//The task's "infinite" inner loop is entered.
|
|
while (1) {
|
|
if (pst.slotFollowsImmediately()) {
|
|
//Do nothing
|
|
} else {
|
|
//The interval for the next polling slot is selected.
|
|
interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
|
|
//The period is checked and restarted with the new interval.
|
|
//If the deadline was missed, the deadlineMissedFunc is called.
|
|
rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
|
|
if (status == RTEMS_TIMEOUT) {
|
|
if (this->deadlineMissedFunc != NULL) {
|
|
this->deadlineMissedFunc();
|
|
}
|
|
}
|
|
}
|
|
//The device handler for this slot is executed and the next one is chosen.
|
|
this->pst.executeAndAdvance();
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PollingTask::sleepFor(uint32_t ms){
|
|
return TaskBase::sleepFor(ms);
|
|
};
|