Merge branch 'mueller_framework' into front_branch

osal/FreeRTOS/MessageQueue.cpp

@@ -2,12 +2,14 @@
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
-// As a first step towards this, introduces system context variable which needs to be switched manually
+// TODO I guess we should have a way of checking if we are in an ISR and then
+// use the "fromISR" versions of all calls
+// As a first step towards this, introduces system context variable which needs
+// to be switched manually
 // Haven't found function to find system context.
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) :
 defaultDestination(0),lastPartner(0), callContext(CallContext::task)  {
-	handle = xQueueCreate(message_depth, max_message_size);
+	handle = xQueueCreate(messageDepth, maxMessageSize);
 	if (handle == NULL) {
 		sif::error << "MessageQueue creation failed" << std::endl;
 	}

osal/FreeRTOS/PeriodicTask.cpp

@@ -1,6 +1,7 @@
+#include "PeriodicTask.h"
+
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include "PeriodicTask.h"
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
@@ -31,7 +32,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
 	// 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);
 	}
 
@@ -70,8 +71,19 @@ void PeriodicTask::taskFunctionality() {
 				it != objectList.end(); ++it) {
 			(*it)->performOperation();
 		}
-		//TODO deadline missed check
+
+		/* 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) {
+			sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+					" missed deadline!\n" << std::flush;
+			if(deadlineMissedFunc != nullptr) {
+				this->deadlineMissedFunc();
+			}
+		}
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+
 	}
 }
 

osal/FreeRTOS/PeriodicTask.h

@@ -5,8 +5,10 @@
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
-#include "task.h"
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
 
 #include <vector>
 

osal/FreeRTOS/QueueFactory.cpp

@@ -3,16 +3,18 @@
 #include <framework/osal/FreeRTOS/MessageQueue.h>
 
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
@@ -24,9 +26,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
-		uint32_t max_message_size) {
-	return new MessageQueue(message_depth, max_message_size);
+MessageQueueIF* QueueFactory::createMessageQueue(size_t messageDepth,
+		size_t maxMessageSize) {
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {