Adding Code for freeRTOS

osal/FreeRTOS/PeriodicTask.cpp

@@ -0,0 +1,85 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include "PeriodicTask.h"
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
+				setDeadlineMissedFunc) {
+
+	xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
+
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	//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
+
+	if (!originalTask->started) {
+		vTaskSuspend(NULL);
+	}
+
+	originalTask->taskFunctionality();
+	debug << "Polling task " << originalTask->handle
+			<< " returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// We must not call resume if scheduler is not started yet
+	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+		vTaskResume(handle);
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	vTaskDelay(pdMS_TO_TICKS(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+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(). */
+	xLastWakeTime = xTaskGetTickCount();
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		for (ObjectList::iterator it = objectList.begin();
+				it != objectList.end(); ++it) {
+			(*it)->performOperation();
+		}
+		//TODO deadline missed check
+		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}