124 lines
4.0 KiB
C++
124 lines
4.0 KiB
C++
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#include "../../tasks/FixedSequenceSlot.h"
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#include "../../objectmanager/SystemObjectIF.h"
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "PollingTask.h"
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#include "RtemsBasic.h"
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#include "../../returnvalues/HasReturnvaluesIF.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include <rtems/bspIo.h>
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#include <rtems/rtems/ratemon.h>
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#include <rtems/rtems/status.h>
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#include <rtems/rtems/tasks.h>
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#include <rtems/rtems/types.h>
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#include <stddef.h>
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#include <sys/_stdint.h>
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#include <iostream>
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#include <list>
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uint32_t PollingTask::deadlineMissedCount = 0;
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PollingTask::PollingTask(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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TaskBase(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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}
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PollingTask::~PollingTask() {
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}
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rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
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//The argument is re-interpreted as PollingTask.
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PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
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//The task's functionality is called.
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originalTask->taskFunctionality();
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sif::debug << "Polling task " << originalTask->getId()
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<< " returned from taskFunctionality." << std::endl;
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}
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void PollingTask::missedDeadlineCounter() {
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PollingTask::deadlineMissedCount++;
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if (PollingTask::deadlineMissedCount % 10 == 0) {
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sif::error << "PST missed " << PollingTask::deadlineMissedCount
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<< " deadlines." << std::endl;
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}
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}
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ReturnValue_t PollingTask::startTask() {
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rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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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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}
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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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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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}
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ReturnValue_t PollingTask::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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sif::error << "Component " << std::hex << componentId <<
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" not found, not adding it to pst" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint32_t PollingTask::getPeriodMs() const {
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return pst.getLengthMs();
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}
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ReturnValue_t PollingTask::checkSequence() const {
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return pst.checkSequence();
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}
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#include <rtems/io.h>
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void PollingTask::taskFunctionality() {
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// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
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FixedSlotSequence::SlotListIter it = pst.current;
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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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TaskBase::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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} 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 = TaskBase::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 PollingTask::sleepFor(uint32_t ms){
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return TaskBase::sleepFor(ms);
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};
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