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added setting task IF

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This commit is contained in:
Robin Müller
2020-06-23 01:14:28 +02:00
parent 31e5577763
commit 4507bdfb69
5 changed files with 87 additions and 30 deletions
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62
osal/FreeRTOS/PeriodicTask.cpp
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@ -70,39 +70,67 @@ 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
* 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();
}
}
checkMissedDeadline(xLastWakeTime, xPeriod);
vTaskDelayUntil(&xLastWakeTime, xPeriod);
}
}
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;
}
objectList.push_back(newObject);
if(setTaskIF) {
newObject->setTaskIF(this);
}
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const {
return period * 1000;
}
void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand
* it. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Tick count has overflown
if(currentTickCount < xLastWakeTime) {
// Time to wake has overflown as well. If the tick count
// is larger than the time to wake, a deadline was missed.
if(timeToWake < xLastWakeTime and
currentTickCount > timeToWake) {
handleMissedDeadline();
}
}
// No tick count overflow. If the timeToWake has not overflown
// and the current tick count is larger than the time to wake,
// a deadline was missed.
else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
handleMissedDeadline();
}
}
void PeriodicTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}