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continued with hk data pool

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added deadline missed check for fixed timeslot task,
improved doc for both periodic task and fixed timeslot task
This commit is contained in:
Robin Müller
2020-06-19 14:25:03 +02:00
parent 84b8d733c0
commit 60ae2d4565
20 changed files with 261 additions and 100 deletions
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60
osal/FreeRTOS/FixedTimeslotTask.cpp
View File

@ -1,6 +1,7 @@
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include "FixedTimeslotTask.h"
#include <framework/serviceinterface/ServiceInterfaceStream.h>
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
@ -18,16 +19,19 @@ FixedTimeslotTask::~FixedTimeslotTask() {
void FixedTimeslotTask::taskEntryPoint(void* argument) {
//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
// The argument is re-interpreted as FixedTimeslotTask. The Task object is
// global, so it is found from any place.
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
// Task should not start until explicitly requested
// 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
/* 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 (!originalTask->started) {
if (not originalTask->started) {
vTaskSuspend(NULL);
}
@ -81,7 +85,8 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
}
void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
// A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry.
SlotListIter slotListIter = pst.current;
//The start time for the first entry is read.
@ -101,17 +106,30 @@ void FixedTimeslotTask::taskFunctionality() {
/* Enter the loop that defines the task behavior. */
for (;;) {
//The component for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
if (pst.slotFollowsImmediately()) {
//Do nothing
} else {
// we need to wait before executing the current slot
//this gives us the time to wait:
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
vTaskDelayUntil(&xLastWakeTime, interval);
//TODO deadline missed check
}
this->pst.executeAndAdvance();
if (not pst.slotFollowsImmediately()) {
/* If all operations are finished and the difference of the
* current time minus the last wake time is larger than the
* expected wait period, a deadline was missed. */
if(xTaskGetTickCount() - xLastWakeTime >=
pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
#ifdef DEBUG
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
// Continue immediately, no need to wait.
break;
}
// we need to wait before executing the current slot
//this gives us the time to wait:
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
vTaskDelayUntil(&xLastWakeTime, interval);
}
}
}

49
osal/FreeRTOS/FixedTimeslotTask.h
View File

@ -1,12 +1,12 @@
#ifndef POLLINGTASK_H_
#define POLLINGTASK_H_
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include <framework/devicehandlers/FixedSlotSequence.h>
#include <framework/tasks/FixedTimeslotTaskIF.h>
#include <framework/tasks/Typedef.h>
#include <FreeRTOS.h>
#include "task.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF {
public:
@ -29,16 +29,18 @@ public:
/**
* @brief The destructor of the class.
*
* @details The destructor frees all heap memory that was allocated on thread initialization for the PST and
* the device handlers. This is done by calling the PST's destructor.
* @details
* The destructor frees all heap memory that was allocated on thread
* initialization for the PST and the device handlers. This is done by
* calling the PST's destructor.
*/
virtual ~FixedTimeslotTask(void);
ReturnValue_t startTask(void);
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
* It counts missedDeadlines and prints the number of missed deadlines
* every 10th time.
*/
static void missedDeadlineCounter();
/**
@ -62,30 +64,29 @@ protected:
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
*
* @details Another function may be announced to determine the actions to perform when a deadline was missed.
* Currently, only one function for missing any deadline is allowed.
* If not used, it shall be declared NULL.
* @brief This attribute holds a function pointer that is executed when
* a deadline was missed.
* @details
* Another function may be announced to determine the actions to perform
* when a deadline was missed. Currently, only one function for missing
* any deadline is allowed. If not used, it shall be declared NULL.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the entry point in a new polling thread.
*
* @details This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
* and link the Polling Sequence Table to the thread object and start taskFunctionality()
* on success. If operation of the task is ended for some reason,
* the destructor is called to free allocated memory.
* @brief This is the entry point for a new task.
* @details
* This method starts the task by calling taskFunctionality(), as soon as
* all requirements (task scheduler has started and startTask()
* has been called) are met.
*/
static void taskEntryPoint(void* argument);
/**
* @brief This function holds the main functionality of the thread.
*
*
* @details Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the OS's System Calls
* to keep the timing of the periods.
* @details
* Core function holding the main functionality of the task
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
void taskFunctionality(void);
};

30
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -12,8 +12,8 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
BaseType_t status = xTaskCreate(taskEntryPoint, name,
setStack, this, setPriority, &handle);
if(status != pdPASS){
sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
<< status << std::endl;
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: " << status << std::endl;
}
}
@ -23,14 +23,17 @@ PeriodicTask::~PeriodicTask(void) {
}
void PeriodicTask::taskEntryPoint(void* argument) {
//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place.
// 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
// 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
/* 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);
@ -61,9 +64,9 @@ 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(). */
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 (;;) {
@ -76,12 +79,15 @@ void PeriodicTask::taskFunctionality() {
* 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);
}

49
osal/FreeRTOS/PeriodicTask.h
View File

@ -5,10 +5,8 @@
#include <framework/tasks/PeriodicTaskIF.h>
#include <framework/tasks/Typedef.h>
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
#include <vector>
@ -22,7 +20,8 @@ class ExecutableObjectIF;
class PeriodicTask: public PeriodicTaskIF {
public:
/**
* @brief Standard constructor of the class.
* Keep in Mind that you need to call before this vTaskStartScheduler()!
* A lot of task parameters are set in "FreeRTOSConfig.h".
* @details
* The class is initialized without allocated objects.
* These need to be added with #addComponent.
@ -38,8 +37,9 @@ public:
* The function pointer to the deadline missed function that shall
* be assigned.
*/
PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
PeriodicTask(const char *name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)());
/**
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
@ -58,7 +58,9 @@ public:
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object);
@ -69,40 +71,47 @@ protected:
bool started;
TaskHandle_t handle;
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
//! Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief The period of the task.
* @details The period determines the frequency of the task's execution. It is expressed in clock ticks.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed.
* So, each may react individually on a timing failure. The pointer may be NULL,
* then nothing happens on missing the deadline. The deadline is equal to the next execution
* of the periodic task.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed so each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details It converts the argument back to the thread object type and copies the class instance
* to the task context. The taskFunctionality method is called afterwards.
* @details
* It converts the argument back to the thread object type and copies the
* class instance to the task context. The taskFunctionality method is
* called afterwards.
* @param A pointer to the task object itself is passed as argument.
*/
static void taskEntryPoint(void* argument);
/**
* @brief The function containing the actual functionality of the task.
* @details The method sets and starts
* the task's period, then enters a loop that is repeated as long as the isRunning
* attribute is true. Within the loop, all performOperation methods of the added
* objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
* until the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
* @details
* The method sets and starts the task's period, then enters a loop that is
* repeated as long as the isRunning attribute is true. Within the loop,
* all performOperation methods of the added objects are called.
* Afterwards the checkAndRestartPeriod system call blocks the task until
* the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
};