87 lines
2.4 KiB
C++
87 lines
2.4 KiB
C++
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#include "../../tasks/ExecutableObjectIF.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include <errno.h>
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#include "PeriodicPosixTask.h"
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PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
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size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
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PosixThread(name_, priority_, stackSize_), objectList(), started(false),
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periodMs(period_), deadlineMissedFunc(deadlineMissedFunc_) {
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}
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PeriodicPosixTask::~PeriodicPosixTask() {
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//Not Implemented
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}
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void* PeriodicPosixTask::taskEntryPoint(void* arg) {
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//The argument is re-interpreted as PollingTask.
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PeriodicPosixTask *originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
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//The task's functionality is called.
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originalTask->taskFunctionality();
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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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ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
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object);
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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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newObject->setTaskIF(this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
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return PosixThread::sleep((uint64_t)ms*1000000);
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}
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ReturnValue_t PeriodicPosixTask::startTask(void) {
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started = true;
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//sif::info << stackSize << std::endl;
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PosixThread::createTask(&taskEntryPoint,this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PeriodicPosixTask::taskFunctionality(void) {
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if(not started) {
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suspend();
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}
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for (auto const &object: objectList) {
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object->initializeAfterTaskCreation();
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}
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uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
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//The task's "infinite" inner loop is entered.
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while (1) {
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for (auto const &object: objectList) {
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object->performOperation();
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}
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if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
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char name[20] = {0};
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int status = pthread_getname_np(pthread_self(), name, sizeof(name));
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if(status == 0) {
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sif::error << "PeriodicPosixTask " << name << ": Deadline "
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"missed." << std::endl;
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}
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else {
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sif::error << "PeriodicPosixTask X: Deadline missed. " <<
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status << std::endl;
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}
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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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}
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uint32_t PeriodicPosixTask::getPeriodMs() const {
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return periodMs;
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}
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