85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
#include "PeriodicTask.h"
|
|
|
|
#include "../../serviceinterface/ServiceInterface.h"
|
|
#include "../../objectmanager/ObjectManager.h"
|
|
#include "../../tasks/ExecutableObjectIF.h"
|
|
|
|
PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
|
|
size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
|
|
RTEMSTaskBase(setPriority, setStack, name),
|
|
periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
|
|
deadlineMissedFunc(setDeadlineMissedFunc) {
|
|
}
|
|
|
|
PeriodicTask::~PeriodicTask(void) {
|
|
/* Do not delete objects, we were responsible for pointers only. */
|
|
rtems_rate_monotonic_delete(periodId);
|
|
}
|
|
|
|
rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
|
|
/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
|
|
so it is found from any place. */
|
|
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
|
return originalTask->taskFunctionality();;
|
|
}
|
|
|
|
ReturnValue_t PeriodicTask::startTask() {
|
|
rtems_status_code status = rtems_task_start(id, PeriodicTask::taskEntryPoint,
|
|
rtems_task_argument((void *) this));
|
|
if (status != RTEMS_SUCCESSFUL) {
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
|
|
<< std::dec << " failed." << std::endl;
|
|
#endif
|
|
}
|
|
switch(status){
|
|
case RTEMS_SUCCESSFUL:
|
|
/* Task started successfully */
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
default:
|
|
/* RTEMS_INVALID_ADDRESS - invalid task entry point
|
|
RTEMS_INVALID_ID - invalid task id
|
|
RTEMS_INCORRECT_STATE - task not in the dormant state
|
|
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
|
|
return HasReturnvaluesIF::RETURN_FAILED;
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
|
|
return RTEMSTaskBase::sleepFor(ms);
|
|
}
|
|
|
|
void PeriodicTask::taskFunctionality() {
|
|
RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId);
|
|
for (const auto& object: objectList) {
|
|
object->initializeAfterTaskCreation();
|
|
}
|
|
/* The task's "infinite" inner loop is entered. */
|
|
while (1) {
|
|
for (const auto& object: objectList) {
|
|
object->performOperation();
|
|
}
|
|
rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId);
|
|
if (status == RTEMS_TIMEOUT) {
|
|
if (this->deadlineMissedFunc != nullptr) {
|
|
this->deadlineMissedFunc();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
|
|
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
|
|
if (newObject == nullptr) {
|
|
return HasReturnvaluesIF::RETURN_FAILED;
|
|
}
|
|
objectList.push_back(newObject);
|
|
newObject->setTaskIF(this);
|
|
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
uint32_t PeriodicTask::getPeriodMs() const {
|
|
return RtemsBasic::convertTicksToMs(periodTicks);
|
|
}
|