refactored and tested hosted and linux task IF
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@ -3,9 +3,7 @@
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#include <chrono>
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#include <thread>
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#include "fsfw/ipc/MutexFactory.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/osal/host/FixedTimeslotTask.h"
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#include "fsfw/osal/host/Mutex.h"
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#include "fsfw/osal/host/taskHelpers.h"
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#include "fsfw/platform.h"
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@ -23,11 +21,7 @@
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FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod setPeriod,
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TaskDeadlineMissedFunction dlmFunc_)
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: started(false),
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pollingSeqTable(static_cast<uint32_t>(setPeriod * 1000)),
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taskName(name),
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period(setPeriod),
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dlmFunc(dlmFunc_) {
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: FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
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// It is propably possible to set task priorities by using the native
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// task handles for Windows / Linux
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mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
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@ -80,7 +74,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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void FixedTimeslotTask::taskFunctionality() {
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[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
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pollingSeqTable.intializeSequenceAfterTaskCreation();
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// A local iterator for the Polling Sequence Table is created to
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@ -106,8 +100,11 @@ void FixedTimeslotTask::taskFunctionality() {
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// we need to wait before executing the current slot
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// this gives us the time to wait:
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interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
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delayForInterval(¤tStartTime, interval);
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// TODO deadline missed check
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if (not delayForInterval(¤tStartTime, interval)) {
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if (dlmFunc != nullptr) {
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dlmFunc();
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}
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}
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}
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}
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}
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@ -132,10 +129,6 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t FixedTimeslotTask::checkSequence() { return pollingSeqTable.checkSequence(); }
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uint32_t FixedTimeslotTask::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
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bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
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bool shouldDelay = false;
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// Get current wakeup time
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@ -175,5 +168,3 @@ bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chr
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(*previousWakeTimeMs) = currentStartTime;
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return false;
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}
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bool FixedTimeslotTask::isEmpty() const { return pollingSeqTable.isEmpty(); }
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@ -8,7 +8,7 @@
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#include "fsfw/objectmanager/ObjectManagerIF.h"
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#include "fsfw/tasks/FixedSlotSequence.h"
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#include "fsfw/tasks/FixedTimeslotTaskIF.h"
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#include "fsfw/tasks/FixedTimeslotTaskBase.h"
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#include "fsfw/tasks/definitions.h"
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class ExecutableObjectIF;
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@ -19,7 +19,7 @@ class ExecutableObjectIF;
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* @details
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* @ingroup task_handling
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*/
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class FixedTimeslotTask : public FixedTimeslotTaskIF {
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class FixedTimeslotTask : public FixedTimeslotTaskBase {
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public:
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/**
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* @brief Standard constructor of the class.
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@ -57,14 +57,10 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
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* @param executionStep
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* @return
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*/
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) override;
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ReturnValue_t checkSequence() override;
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep) override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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uint32_t getPeriodMs() const override;
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bool isEmpty() const override;
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protected:
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using chron_ms = std::chrono::milliseconds;
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@ -74,21 +70,10 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
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std::thread mainThread;
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std::atomic<bool> terminateThread{false};
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//! Polling sequence table which contains the object to execute
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//! and information like the timeslots and the passed execution step.
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FixedSlotSequence pollingSeqTable;
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std::condition_variable initCondition;
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std::mutex initMutex;
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std::string taskName;
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/**
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* @brief The period of the task.
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* @details
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* The period determines the frequency of the task's execution.
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* It is expressed in clock ticks.
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*/
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TaskPeriod period;
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TaskDeadlineMissedFunction dlmFunc = nullptr;
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/**
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* @brief This is the function executed in the new task's context.
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* @details
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@ -108,7 +93,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
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* the checkAndRestartPeriod system call blocks the task until the next
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* period. On missing the deadline, the deadlineMissedFunction is executed.
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*/
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void taskFunctionality();
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[[noreturn]] void taskFunctionality();
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static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
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};
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@ -3,13 +3,10 @@
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#include <chrono>
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#include <thread>
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#include "fsfw/ipc/MutexFactory.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/osal/host/Mutex.h"
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#include "fsfw/osal/host/taskHelpers.h"
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#include "fsfw/platform.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#if defined(PLATFORM_WIN)
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#include <processthreadsapi.h>
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@ -33,7 +30,7 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack
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tasks::insertTaskName(mainThread.get_id(), taskName);
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}
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PeriodicTask::~PeriodicTask(void) {
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PeriodicTask::~PeriodicTask() {
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// Do not delete objects, we were responsible for ptrs only.
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terminateThread = true;
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if (mainThread.joinable()) {
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@ -42,7 +39,7 @@ PeriodicTask::~PeriodicTask(void) {
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}
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void PeriodicTask::taskEntryPoint(void* argument) {
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PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
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auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
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if (not originalTask->started) {
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// we have to suspend/block here until the task is started.
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@ -80,8 +77,6 @@ void PeriodicTask::taskFunctionality() {
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std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
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auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch())};
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auto nextStartTime{currentStartTime};
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/* Enter the loop that defines the task behavior. */
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for (;;) {
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if (terminateThread.load()) {
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@ -39,7 +39,7 @@ class PeriodicTask : public PeriodicTaskBase {
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* @brief Currently, the executed object's lifetime is not coupled with
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* the task object's lifetime, so the destructor is empty.
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*/
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virtual ~PeriodicTask(void);
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~PeriodicTask() override;
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/**
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* @brief The method to start the task.
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@ -48,9 +48,9 @@ class PeriodicTask : public PeriodicTaskBase {
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* The address of the task object is passed as an argument
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* to the system call.
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*/
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ReturnValue_t startTask(void);
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ReturnValue_t startTask() override;
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ReturnValue_t sleepFor(uint32_t ms);
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ReturnValue_t sleepFor(uint32_t ms) override;
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protected:
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using chron_ms = std::chrono::milliseconds;
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@ -81,9 +81,9 @@ class PeriodicTask : public PeriodicTaskBase {
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* the checkAndRestartPeriod system call blocks the task until the next
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* period. On missing the deadline, the deadlineMissedFunction is executed.
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*/
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void taskFunctionality(void);
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void taskFunctionality();
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bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
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static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
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};
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#endif /* PERIODICTASK_H_ */
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#endif /* FRAMEWORK_OSAL_HOST_PERIODICTASK_H_ */
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@ -14,9 +14,9 @@ TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
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// Not used for the host implementation for now because C++ thread abstraction is used
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
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TaskFactory::TaskFactory() {}
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TaskFactory::TaskFactory() = default;
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TaskFactory::~TaskFactory() {}
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TaskFactory::~TaskFactory() = default;
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TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
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@ -6,7 +6,7 @@
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std::mutex nameMapLock;
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std::map<std::thread::id, std::string> taskNameMap;
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ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
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ReturnValue_t tasks::insertTaskName(std::thread::id threadId, const std::string& taskName) {
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std::lock_guard<std::mutex> lg(nameMapLock);
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auto returnPair = taskNameMap.emplace(threadId, taskName);
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if (not returnPair.second) {
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namespace tasks {
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ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
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ReturnValue_t insertTaskName(std::thread::id threadId, const std::string& taskName);
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std::string getTaskName(std::thread::id threadId);
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} // namespace tasks
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#include "fsfw/osal/linux/FixedTimeslotTask.h"
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#include <limits.h>
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#include <climits>
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
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FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
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TaskPeriod periodSeconds_)
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: posixThread(name_, priority_, stackSize_),
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pst(static_cast<uint32_t>(periodSeconds_ * 1000)),
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FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
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TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
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: FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
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posixThread(name_, priority_, stackSize_),
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started(false) {}
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FixedTimeslotTask::~FixedTimeslotTask() {}
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bool FixedTimeslotTask::isEmpty() const { return pst.isEmpty(); }
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void* FixedTimeslotTask::taskEntryPoint(void* arg) {
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// The argument is re-interpreted as PollingTask.
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FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
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auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
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// The task's functionality is called.
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originalTask->taskFunctionality();
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return nullptr;
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@ -36,45 +31,25 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
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return PosixThread::sleep((uint64_t)ms * 1000000);
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}
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uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
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ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep) {
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ExecutableObjectIF* executableObject =
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ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
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if (executableObject != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, executableObject, 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 << " not found, not adding it to pst"
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<< std::dec << std::endl;
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t FixedTimeslotTask::checkSequence() { return pst.checkSequence(); }
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void FixedTimeslotTask::taskFunctionality() {
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[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
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// Like FreeRTOS pthreads are running as soon as they are created
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if (!started) {
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posixThread.suspend();
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}
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pst.intializeSequenceAfterTaskCreation();
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pollingSeqTable.intializeSequenceAfterTaskCreation();
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// The start time for the first entry is read.
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uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs();
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uint64_t interval = pst.getIntervalToNextSlotMs();
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uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
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uint32_t interval = 0;
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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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while (true) {
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if (pollingSeqTable.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 = this->pst.getIntervalToPreviousSlotMs();
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interval = pollingSeqTable.getIntervalToPreviousSlotMs();
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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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if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
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@ -83,7 +58,7 @@ void FixedTimeslotTask::taskFunctionality() {
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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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pollingSeqTable.executeAndAdvance();
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}
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}
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@ -5,10 +5,10 @@
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#include "PosixThread.h"
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#include "fsfw/tasks/FixedSlotSequence.h"
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#include "fsfw/tasks/FixedTimeslotTaskIF.h"
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#include "fsfw/tasks/FixedTimeslotTaskBase.h"
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#include "fsfw/tasks/definitions.h"
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class FixedTimeslotTask : public FixedTimeslotTaskIF {
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class FixedTimeslotTask : public FixedTimeslotTaskBase {
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public:
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/**
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* Create a generic periodic task.
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@ -22,22 +22,14 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
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* @param period_
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* @param deadlineMissedFunc_
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*/
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FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod periodSeconds_);
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virtual ~FixedTimeslotTask();
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FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
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TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
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~FixedTimeslotTask() override = default;
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ReturnValue_t startTask() override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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uint32_t getPeriodMs() const override;
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep) override;
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ReturnValue_t checkSequence() override;
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bool isEmpty() const override;
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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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@ -57,10 +49,11 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
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* It links the functionalities provided by FixedSlotSequence with the
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* OS's System Calls to keep the timing of the periods.
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*/
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virtual void taskFunctionality();
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[[noreturn]] virtual void taskFunctionality();
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private:
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PosixThread posixThread;
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bool started;
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/**
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* @brief This is the entry point in a new thread.
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@ -74,9 +67,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
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* arbitrary data.
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*/
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static void* taskEntryPoint(void* arg);
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FixedSlotSequence pst;
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bool started;
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};
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#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
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@ -1,35 +1,27 @@
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#include "fsfw/osal/linux/PeriodicPosixTask.h"
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#include "PeriodicPosixTask.h"
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#include <cerrno>
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#include <set>
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/serviceinterface.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
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TaskPeriod period_, TaskDeadlineMissedFunction dlMissedFunc_)
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: PeriodicTaskBase(period_, dlMissedFunc_),
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TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
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: PeriodicTaskBase(period_, dlmFunc_),
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posixThread(name_, priority_, stackSize_),
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started(false) {}
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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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auto* 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 nullptr;
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}
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ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
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return PosixThread::sleep(static_cast<uint64_t>(ms * 1000000));
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return PosixThread::sleep(static_cast<uint64_t>(ms) * 1000000);
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}
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ReturnValue_t PeriodicPosixTask::startTask(void) {
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ReturnValue_t PeriodicPosixTask::startTask() {
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if (isEmpty()) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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@ -38,24 +30,24 @@ ReturnValue_t PeriodicPosixTask::startTask(void) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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|
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void PeriodicPosixTask::taskFunctionality(void) {
|
||||
[[noreturn]] void PeriodicPosixTask::taskFunctionality() {
|
||||
if (not started) {
|
||||
posixThread.suspend();
|
||||
}
|
||||
|
||||
initObjsAfterTaskCreation();
|
||||
|
||||
uint64_t lastWakeTime = posixThread.getCurrentMonotonicTimeMs();
|
||||
uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
|
||||
uint64_t periodMs = getPeriodMs();
|
||||
// The task's "infinite" inner loop is entered.
|
||||
while (1) {
|
||||
while (true) {
|
||||
for (auto const& objOpCodePair : objectList) {
|
||||
objOpCodePair.first->performOperation(objOpCodePair.second);
|
||||
}
|
||||
|
||||
if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
|
||||
if (this->deadlineMissedFunc != nullptr) {
|
||||
this->deadlineMissedFunc();
|
||||
if (dlmFunc != nullptr) {
|
||||
dlmFunc();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -24,8 +24,8 @@ class PeriodicPosixTask : public PeriodicTaskBase {
|
||||
* @param deadlineMissedFunc_
|
||||
*/
|
||||
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
|
||||
void (*deadlineMissedFunc_)());
|
||||
virtual ~PeriodicPosixTask();
|
||||
TaskDeadlineMissedFunction dlmFunc_);
|
||||
~PeriodicPosixTask() override = default;
|
||||
|
||||
/**
|
||||
* @brief The method to start the task.
|
||||
@ -54,7 +54,7 @@ class PeriodicPosixTask : public PeriodicTaskBase {
|
||||
* will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
|
||||
* executed.
|
||||
*/
|
||||
virtual void taskFunctionality(void);
|
||||
[[noreturn]] virtual void taskFunctionality();
|
||||
/**
|
||||
* @brief This is the entry point in a new thread.
|
||||
*
|
||||
|
@ -8,7 +8,7 @@
|
||||
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
|
||||
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
|
||||
|
||||
TaskFactory::~TaskFactory() {}
|
||||
TaskFactory::~TaskFactory() = default;
|
||||
|
||||
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
|
||||
|
||||
@ -22,7 +22,8 @@ PeriodicTaskIF* TaskFactory::createPeriodicTask(
|
||||
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
|
||||
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_);
|
||||
return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
|
||||
deadLineMissedFunction_);
|
||||
}
|
||||
|
||||
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
|
||||
|
@ -1,3 +1,3 @@
|
||||
target_sources(
|
||||
${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
|
||||
PeriodicTaskBase.cpp)
|
||||
PeriodicTaskBase.cpp FixedTimeslotTaskBase.cpp)
|
||||
|
@ -35,7 +35,7 @@ class FixedSlotSequence {
|
||||
* @brief The constructor of the FixedSlotSequence object.
|
||||
* @param setLength The period length, expressed in ms.
|
||||
*/
|
||||
FixedSlotSequence(uint32_t setLengthMs);
|
||||
explicit FixedSlotSequence(uint32_t setLengthMs);
|
||||
|
||||
/**
|
||||
* @brief The destructor of the FixedSlotSequence object.
|
||||
|
29
src/fsfw/tasks/FixedTimeslotTaskBase.cpp
Normal file
29
src/fsfw/tasks/FixedTimeslotTaskBase.cpp
Normal file
@ -0,0 +1,29 @@
|
||||
#include "FixedTimeslotTaskBase.h"
|
||||
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
|
||||
FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_,
|
||||
TaskDeadlineMissedFunction dlmFunc_)
|
||||
: pollingSeqTable(getPeriodMs()), period(period_), dlmFunc(dlmFunc_) {}
|
||||
uint32_t FixedTimeslotTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
|
||||
|
||||
bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty(); }
|
||||
|
||||
ReturnValue_t FixedTimeslotTaskBase::checkSequence() { return pollingSeqTable.checkSequence(); }
|
||||
|
||||
ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t componentId, uint32_t slotTimeMs,
|
||||
int8_t executionStep) {
|
||||
auto* executableObject = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
|
||||
if (executableObject != nullptr) {
|
||||
pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << componentId
|
||||
<< std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
|
||||
#else
|
||||
sif::printError("Component 0x%08x not found, not adding it to PST\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
44
src/fsfw/tasks/FixedTimeslotTaskBase.h
Normal file
44
src/fsfw/tasks/FixedTimeslotTaskBase.h
Normal file
@ -0,0 +1,44 @@
|
||||
#ifndef FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
|
||||
#define FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
|
||||
|
||||
#include "FixedSlotSequence.h"
|
||||
#include "FixedTimeslotTaskIF.h"
|
||||
#include "definitions.h"
|
||||
|
||||
class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
|
||||
public:
|
||||
explicit FixedTimeslotTaskBase(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc = nullptr);
|
||||
~FixedTimeslotTaskBase() override = default;
|
||||
;
|
||||
|
||||
protected:
|
||||
//! Polling sequence table which contains the object to execute
|
||||
//! and information like the timeslots and the passed execution step.
|
||||
FixedSlotSequence pollingSeqTable;
|
||||
|
||||
/**
|
||||
* @brief Period of task in floating point seconds
|
||||
*/
|
||||
TaskPeriod period;
|
||||
|
||||
/**
|
||||
* @brief The pointer to the deadline-missed function.
|
||||
* @details
|
||||
* This pointer stores the function that is executed if the task's deadline
|
||||
* is missed. So, each may react individually on a timing failure.
|
||||
* The pointer may be NULL, then nothing happens on missing the deadline.
|
||||
* The deadline is equal to the next execution of the periodic task.
|
||||
*/
|
||||
TaskDeadlineMissedFunction dlmFunc = nullptr;
|
||||
|
||||
ReturnValue_t checkSequence() override;
|
||||
|
||||
[[nodiscard]] uint32_t getPeriodMs() const override;
|
||||
|
||||
[[nodiscard]] bool isEmpty() const override;
|
||||
|
||||
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
|
||||
int8_t executionStep) override;
|
||||
};
|
||||
|
||||
#endif // FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
|
@ -11,7 +11,7 @@
|
||||
*/
|
||||
class FixedTimeslotTaskIF : public PeriodicTaskIF {
|
||||
public:
|
||||
virtual ~FixedTimeslotTaskIF() {}
|
||||
~FixedTimeslotTaskIF() override = default;
|
||||
|
||||
static constexpr ReturnValue_t SLOT_LIST_EMPTY =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0);
|
||||
|
@ -1,11 +1,21 @@
|
||||
#include "PeriodicTaskBase.h"
|
||||
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
|
||||
#include <set>
|
||||
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
|
||||
: period(period), dlmFunc(dlmFunc_) {}
|
||||
: period(period_), dlmFunc(dlmFunc_) {
|
||||
// Hints at configuration error
|
||||
if (PeriodicTaskBase::getPeriodMs() <= 1) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "Passed task period 0 or smaller than 1 ms" << std::endl;
|
||||
#else
|
||||
sif::printWarning("Passed task period 0 or smaller than 1ms\n");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
|
||||
|
||||
@ -32,7 +42,7 @@ ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
|
||||
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
|
||||
auto* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
|
||||
return addComponent(newObject, opCode);
|
||||
}
|
||||
|
||||
|
@ -11,14 +11,15 @@ class ExecutableObjectIF;
|
||||
|
||||
class PeriodicTaskBase : public PeriodicTaskIF {
|
||||
public:
|
||||
PeriodicTaskBase(TaskPeriod period, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
|
||||
explicit PeriodicTaskBase(TaskPeriod period,
|
||||
TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
|
||||
|
||||
ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
|
||||
ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
|
||||
|
||||
uint32_t getPeriodMs() const override;
|
||||
[[nodiscard]] uint32_t getPeriodMs() const override;
|
||||
|
||||
bool isEmpty() const override;
|
||||
[[nodiscard]] bool isEmpty() const override;
|
||||
|
||||
ReturnValue_t initObjsAfterTaskCreation();
|
||||
|
||||
|
@ -17,7 +17,7 @@ class PeriodicTaskIF {
|
||||
/**
|
||||
* @brief A virtual destructor as it is mandatory for interfaces.
|
||||
*/
|
||||
virtual ~PeriodicTaskIF() {}
|
||||
virtual ~PeriodicTaskIF() = default;
|
||||
/**
|
||||
* @brief With the startTask method, a created task can be started
|
||||
* for the first time.
|
||||
|
@ -5,7 +5,7 @@
|
||||
#include <cstdint>
|
||||
|
||||
using TaskName = const char*;
|
||||
using TaskPriority = uint32_t;
|
||||
using TaskPriority = int;
|
||||
using TaskStackSize = size_t;
|
||||
using TaskPeriod = double;
|
||||
using TaskDeadlineMissedFunction = void (*)();
|
||||
|
Loading…
Reference in New Issue
Block a user