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c02f35145e
* Remove FPP dependencies on native int types * Revise FpConfig * Fix errors in FpConfig * Revise types Add size type alias to Serializable Remove type aliases for generated code
79 lines
2.3 KiB
C++
79 lines
2.3 KiB
C++
#include <Fw/Comp/ActiveComponentBase.hpp>
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#include <Os/Task.hpp>
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#include <Os/Baremetal/TaskRunner/BareTaskHandle.hpp>
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#include <Fw/Types/Assert.hpp>
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#include <cstdio>
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#include <new>
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namespace Os {
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Task::Task() :
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m_handle(0),
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m_identifier(0),
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m_affinity(-1),
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m_started(false),
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m_suspendedOnPurpose(false)
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{}
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Task::TaskStatus Task::start(const Fw::StringBase &name, taskRoutine routine, void* arg, ParamType priority, ParamType stackSize, ParamType cpuAffinity, ParamType identifier) {
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//Get a task handle, and set it up
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BareTaskHandle* handle = new(std::nothrow) BareTaskHandle();
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if (handle == nullptr) {
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return Task::TASK_UNKNOWN_ERROR;
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}
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//Set handle member variables
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handle->m_enabled = true;
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handle->m_priority = priority;
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handle->m_routine = routine;
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handle->m_argument = arg;
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//Register this task using our custom task handle
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m_handle = reinterpret_cast<POINTER_CAST>(handle);
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this->m_name = "BR_";
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this->m_name += name;
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this->m_identifier = identifier;
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// If a registry has been registered, register task
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if (Task::s_taskRegistry) {
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Task::s_taskRegistry->addTask(this);
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}
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//Running the task the first time allows setup activities for the task
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handle->m_routine(handle->m_argument);
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return Task::TASK_OK;
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}
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Task::TaskStatus Task::delay(NATIVE_UINT_TYPE milliseconds)
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{
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//Task delays are a bad idea in baremetal tasks
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return Task::TASK_DELAY_ERROR;
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}
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Task::~Task() {
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if (this->m_handle) {
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delete reinterpret_cast<BareTaskHandle*>(this->m_handle);
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}
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// If a registry has been registered, remove task
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if (Task::s_taskRegistry) {
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Task::s_taskRegistry->removeTask(this);
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}
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}
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void Task::suspend(bool onPurpose) {
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FW_ASSERT(reinterpret_cast<BareTaskHandle*>(this->m_handle) != nullptr);
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reinterpret_cast<BareTaskHandle*>(this->m_handle)->m_enabled = false;
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}
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void Task::resume() {
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FW_ASSERT(reinterpret_cast<BareTaskHandle*>(this->m_handle) != nullptr);
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reinterpret_cast<BareTaskHandle*>(this->m_handle)->m_enabled = true;
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}
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bool Task::isSuspended() {
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FW_ASSERT(reinterpret_cast<BareTaskHandle*>(this->m_handle) != nullptr);
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return !reinterpret_cast<BareTaskHandle*>(this->m_handle)->m_enabled;
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}
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Task::TaskStatus Task::join(void **value_ptr) {
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return TASK_OK;
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}
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}
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