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moved timeslot files to task folder

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implmented setting task IF for regular periodic tasks
This commit is contained in:
Robin Müller
2020-06-19 20:14:56 +02:00
parent eb4ce980fe
commit 2de811e0af
13 changed files with 82 additions and 58 deletions
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10
osal/FreeRTOS/FixedTimeslotTask.cpp
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@ -62,11 +62,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
if(slotTimeMs == 0) {
// FreeRTOS throws a sanity error for zero values, so we set
// the time to one millisecond.
slotTimeMs = 1;
}
pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
@ -101,7 +96,9 @@ void FixedTimeslotTask::taskFunctionality() {
xLastWakeTime = xTaskGetTickCount();
// wait for first entry's start time
vTaskDelayUntil(&xLastWakeTime, interval);
if(interval > 0) {
vTaskDelayUntil(&xLastWakeTime, interval);
}
/* Enter the loop that defines the task behavior. */
for (;;) {
@ -137,3 +134,4 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
vTaskDelay(pdMS_TO_TICKS(ms));
return HasReturnvaluesIF::RETURN_OK;
}

10
osal/FreeRTOS/FixedTimeslotTask.h
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@ -1,7 +1,7 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include <framework/devicehandlers/FixedSlotSequence.h>
#include <framework/tasks/FixedSlotSequence.h>
#include <framework/tasks/FixedTimeslotTaskIF.h>
#include <framework/tasks/Typedef.h>
@ -49,13 +49,13 @@ public:
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep);
int8_t executionStep) override;
uint32_t getPeriodMs() const;
uint32_t getPeriodMs() const override;
ReturnValue_t checkSequence() const;
ReturnValue_t checkSequence() const override;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
bool started;

14
osal/FreeRTOS/PeriodicTask.cpp
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@ -70,9 +70,8 @@ void PeriodicTask::taskFunctionality() {
xLastWakeTime = xTaskGetTickCount();
/* Enter the loop that defines the task behavior. */
for (;;) {
for (ObjectList::iterator it = objectList.begin();
it != objectList.end(); ++it) {
(*it)->performOperation();
for (auto const& object: objectList) {
object->performOperation();
}
/* If all operations are finished and the difference of the
@ -93,12 +92,17 @@ void PeriodicTask::taskFunctionality() {
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == NULL) {
if (newObject == nullptr) {
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implement ExecutableObjectIF" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(setTaskIF) {
newObject->setTaskIF(this);
}
objectList.push_back(newObject);
return HasReturnvaluesIF::RETURN_OK;
}

9
osal/FreeRTOS/PeriodicTask.h
View File

@ -54,7 +54,7 @@ public:
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask(void);
ReturnValue_t startTask() override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
@ -63,11 +63,12 @@ public:
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object);
ReturnValue_t addComponent(object_id_t object,
bool setTaskIF = true) override;
uint32_t getPeriodMs() const;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
bool started;
TaskHandle_t handle;