93 lines
2.9 KiB
C++
93 lines
2.9 KiB
C++
/**
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* @file MultiObjectTask.cpp
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* @brief This file defines the MultiObjectTask class.
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* @date 30.01.2014
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* @author baetz
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*/
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../tasks/ExecutableObjectIF.h"
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#include "MultiObjectTask.h"
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MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority,
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size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
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TaskBase(setPriority, setStack, name), periodTicks(
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RtemsBasic::convertMsToTicks(setPeriod)), periodId(0), deadlineMissedFunc(
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setDeadlineMissedFunc) {
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}
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MultiObjectTask::~MultiObjectTask(void) {
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//Do not delete objects, we were responsible for ptrs only.
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rtems_rate_monotonic_delete(periodId);
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}
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rtems_task MultiObjectTask::taskEntryPoint(rtems_task_argument argument) {
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//The argument is re-interpreted as MultiObjectTask. The Task object is global, so it is found from any place.
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MultiObjectTask *originalTask(reinterpret_cast<MultiObjectTask*>(argument));
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originalTask->taskFunctionality();
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}
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ReturnValue_t MultiObjectTask::startTask() {
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rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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#endif
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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 MultiObjectTask::sleepFor(uint32_t ms) {
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return TaskBase::sleepFor(ms);
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}
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void MultiObjectTask::taskFunctionality() {
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TaskBase::setAndStartPeriod(periodTicks,&periodId);
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//The task's "infinite" inner loop is entered.
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while (1) {
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for (ObjectList::iterator it = objectList.begin();
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it != objectList.end(); ++it) {
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(*it)->performOperation();
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}
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rtems_status_code status = TaskBase::restartPeriod(periodTicks,periodId);
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if (status == RTEMS_TIMEOUT) {
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char nameSpace[8] = { 0 };
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char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
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nameSpace);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
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#endif
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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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ReturnValue_t MultiObjectTask::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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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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uint32_t MultiObjectTask::getPeriodMs() const {
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return RtemsBasic::convertTicksToMs(periodTicks);
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}
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