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adapted MessageQueueSenderIF function calls

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This commit is contained in:
Robin Müller
2020-06-22 20:18:13 +02:00
parent 5734a0a0e9
commit dadc867d9e
9 changed files with 43 additions and 22 deletions
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16
osal/FreeRTOS/FixedTimeslotTask.cpp
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@ -105,11 +105,14 @@ void FixedTimeslotTask::taskFunctionality() {
//The component for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
if (not pst.slotFollowsImmediately()) {
// Get the interval till execution of the next slot.
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
/* 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())) {
if(xTaskGetTickCount() - xLastWakeTime >= interval) {
#ifdef DEBUG
sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
@ -117,14 +120,9 @@ void FixedTimeslotTask::taskFunctionality() {
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
// Continue immediately, no need to wait.
continue;
}
// 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);
// Wait for the interval. This exits immediately if a deadline was
// missed while also updating the last wake time.
vTaskDelayUntil(&xLastWakeTime, interval);
}
}