rtems bugfixes and updates only

osal/rtems/PeriodicTask.cpp

@@ -0,0 +1,83 @@
+#include "PeriodicTask.h"
+
+#include "../../serviceinterface/ServiceInterface.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->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);
+}