fsfw/osal/rtems/PollingTask.cpp

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#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include "PollingTask.h"
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;
rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
rtems_status_code status = rtems_rate_monotonic_create(periodName,
&periodId);
if (status != RTEMS_SUCCESSFUL) {
error << "PollingTask::period create failed with status " << status
<< std::endl;
}
}
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;
}
return RtemsBasic::convertReturnCode(status);
}
ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PollingTask::getPeriodMs() const {
return pst.getLengthMs();
}
ReturnValue_t PollingTask::checkSequence() const {
return pst.checkSequence();
}
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);
//The period is set up and started with the system call.
//The +1 is necessary to avoid a call with period = 0, which does not start the period.
rtems_status_code status = rtems_rate_monotonic_period(periodId,
interval + 1);
if (status != RTEMS_SUCCESSFUL) {
error << "PollingTask::period start failed with status " << status
<< std::endl;
return;
}
//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.
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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.
status = rtems_rate_monotonic_period(periodId, interval);
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);
};