Robin.Mueller
60ae2d4565
added deadline missed check for fixed timeslot task, improved doc for both periodic task and fixed timeslot task
109 lines
3.5 KiB
C++
109 lines
3.5 KiB
C++
#include "PeriodicTask.h"
|
|
|
|
#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
|
#include <framework/tasks/ExecutableObjectIF.h>
|
|
|
|
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
|
|
TaskStackSize setStack, TaskPeriod setPeriod,
|
|
void (*setDeadlineMissedFunc)()) :
|
|
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
|
|
setDeadlineMissedFunc)
|
|
{
|
|
BaseType_t status = xTaskCreate(taskEntryPoint, name,
|
|
setStack, this, setPriority, &handle);
|
|
if(status != pdPASS){
|
|
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
|
|
"Status: " << status << std::endl;
|
|
}
|
|
|
|
}
|
|
|
|
PeriodicTask::~PeriodicTask(void) {
|
|
//Do not delete objects, we were responsible for ptrs only.
|
|
}
|
|
|
|
void PeriodicTask::taskEntryPoint(void* argument) {
|
|
// The argument is re-interpreted as PeriodicTask. The Task object is
|
|
// global, so it is found from any place.
|
|
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
|
/* Task should not start until explicitly requested,
|
|
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
|
|
* is running but not if the scheduler is not running.
|
|
* To be able to accommodate both cases we check a member which is set in
|
|
* #startTask(). If it is not set and we get here, the scheduler was started
|
|
* before #startTask() was called and we need to suspend if it is set,
|
|
* the scheduler was not running before #startTask() was called and we
|
|
* can continue */
|
|
|
|
if (not originalTask->started) {
|
|
vTaskSuspend(NULL);
|
|
}
|
|
|
|
originalTask->taskFunctionality();
|
|
sif::debug << "Polling task " << originalTask->handle
|
|
<< " returned from taskFunctionality." << std::endl;
|
|
}
|
|
|
|
ReturnValue_t PeriodicTask::startTask() {
|
|
started = true;
|
|
|
|
// We must not call resume if scheduler is not started yet
|
|
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
|
|
vTaskResume(handle);
|
|
}
|
|
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
|
|
vTaskDelay(pdMS_TO_TICKS(ms));
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
void PeriodicTask::taskFunctionality() {
|
|
TickType_t xLastWakeTime;
|
|
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
|
|
/* The xLastWakeTime variable needs to be initialized with the current tick
|
|
count. Note that this is the only time the variable is written to
|
|
explicitly. After this assignment, xLastWakeTime is updated automatically
|
|
internally within vTaskDelayUntil(). */
|
|
xLastWakeTime = xTaskGetTickCount();
|
|
/* Enter the loop that defines the task behavior. */
|
|
for (;;) {
|
|
for (ObjectList::iterator it = objectList.begin();
|
|
it != objectList.end(); ++it) {
|
|
(*it)->performOperation();
|
|
}
|
|
|
|
/* If all operations are finished and the difference of the
|
|
* current time minus the last wake time is larger than the
|
|
* wait period, a deadline was missed. */
|
|
if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
|
|
#ifdef DEBUG
|
|
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
|
|
" missed deadline!\n" << std::flush;
|
|
#endif
|
|
if(deadlineMissedFunc != nullptr) {
|
|
this->deadlineMissedFunc();
|
|
}
|
|
}
|
|
|
|
vTaskDelayUntil(&xLastWakeTime, xPeriod);
|
|
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
|
|
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
|
|
object);
|
|
if (newObject == NULL) {
|
|
return HasReturnvaluesIF::RETURN_FAILED;
|
|
}
|
|
objectList.push_back(newObject);
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
uint32_t PeriodicTask::getPeriodMs() const {
|
|
return period * 1000;
|
|
}
|