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all fixed slot sequence improvenements, freeRTOS

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fix
This commit is contained in:
Robin Müller
2020-04-06 11:19:05 +02:00
parent cd7e47ccbb
commit 58008c8db5
5 changed files with 112 additions and 81 deletions
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63
devicehandlers/FixedSlotSequence.h
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@ -4,11 +4,15 @@
#include <framework/devicehandlers/FixedSequenceSlot.h>
#include <framework/objectmanager/SystemObject.h>
#include <list>
#include <set>
using SlotList = std::multiset<FixedSequenceSlot>;
using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
/**
* \brief This class is the representation of a Polling Sequence Table in software.
* @brief This class is the representation of a Polling Sequence Table in software.
*
* \details The FixedSlotSequence object maintains the dynamic execution of device handler objects.
* @details The FixedSlotSequence object maintains the dynamic execution of device handler objects.
* The main idea is to create a list of device handlers, to announce all handlers to the
* polling sequence and to maintain a list of polling slot objects. This slot list represents the
* Polling Sequence Table in software. Each polling slot contains information to indicate when and
@ -19,29 +23,37 @@
class FixedSlotSequence {
public:
/**
* \brief The constructor of the FixedSlotSequence object.
* @brief The constructor of the FixedSlotSequence object.
*
* \details The constructor takes two arguments, the period length and the init function.
* @details The constructor takes two arguments, the period length and the init function.
*
* \param setLength The period length, expressed in ms.
* @param setLength The period length, expressed in ms.
*/
FixedSlotSequence(uint32_t setLengthMs);
/**
* \brief The destructor of the FixedSlotSequence object.
* @brief The destructor of the FixedSlotSequence object.
*
* \details The destructor frees all allocated memory by iterating through the slotList
* @details The destructor frees all allocated memory by iterating through the slotList
* and deleting all allocated resources.
*/
virtual ~FixedSlotSequence();
/**
* \brief This is a method to add an PollingSlot object to slotList.
* @brief This is a method to add an PollingSlot object to slotList.
*
* \details Here, a polling slot object is added to the slot list. It is appended
* @details Here, a polling slot object is added to the slot list. It is appended
* to the end of the list. The list is currently NOT reordered.
* Afterwards, the iterator current is set to the beginning of the list.
* @param Object ID of the object to add
* @param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
* will be called inside the slot period.
* @param setSequenceId ID which can be used to distinguish
* different task operations
* @param
* @param
*/
void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
PeriodicTaskIF* executingTask);
@ -57,11 +69,14 @@ public:
/**
* \brief This method returns the time until the next software component is invoked.
*
* \details This method is vitally important for the operation of the PST. By fetching the polling time
* of the current slot and that of the next one (or the first one, if the list end is reached)
* it calculates and returns the interval in milliseconds within which the handler execution
* shall take place. If the next slot has the same time as the current one, it is ignored until
* a slot with different time or the end of the PST is found.
* \details
* This method is vitally important for the operation of the PST.
* By fetching the polling time of the current slot and that of the
* next one (or the first one, if the list end is reached)
* it calculates and returns the interval in milliseconds within
* which the handler execution shall take place.
* If the next slot has the same time as the current one, it is ignored
* until a slot with different time or the end of the PST is found.
*/
uint32_t getIntervalToNextSlotMs();
@ -75,12 +90,12 @@ public:
uint32_t getIntervalToPreviousSlotMs();
/**
* \brief This method returns the length of this FixedSlotSequence instance.
* @brief This method returns the length of this FixedSlotSequence instance.
*/
uint32_t getLengthMs() const;
/**
* \brief The method to execute the device handler entered in the current OPUSPollingSlot object.
* \brief The method to execute the device handler entered in the current PollingSlot object.
*
* \details Within this method the device handler object to be executed is chosen by looking up the
* handler address of the current slot in the handlerMap. Either the device handler's
@ -91,27 +106,27 @@ public:
void executeAndAdvance();
/**
* \brief An iterator that indicates the current polling slot to execute.
* @brief An iterator that indicates the current polling slot to execute.
*
* \details This is an iterator for slotList and always points to the polling slot which is executed next.
* @details This is an iterator for slotList and always points to the polling slot which is executed next.
*/
std::list<FixedSequenceSlot*>::iterator current;
SlotListIter current;
ReturnValue_t checkSequence() const;
virtual ReturnValue_t checkSequence() const;
protected:
/**
* \brief This list contains all OPUSPollingSlot objects, defining order and execution time of the
* @brief This list contains all PollingSlot objects, defining order and execution time of the
* device handler objects.
*
* \details The slot list is a std:list object that contains all created OPUSPollingSlot instances.
* @details The slot list is a std:list object that contains all created PollingSlot instances.
* They are NOT ordered automatically, so by adding entries, the correct order needs to be ensured.
* By iterating through this list the polling sequence is executed. Two entries with identical
* polling times are executed immediately one after another.
*/
std::list<FixedSequenceSlot*> slotList;
SlotList slotList;
uint32_t lengthMs;
uint32_t slotLengthMs;
};
#endif /* FIXEDSLOTSEQUENCE_H_ */