Base class for a controller that needs to run periodically to perform work. More...

#include <periodic_thread_controller.h>

Inheritance diagram for PeriodicController< TStackSize >:

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Public Member Functions
	PeriodicController (const char *name, tprio_t priority, float frequencyHz)

	PeriodicController (const char *name)

void	setPeriod (int periodMs)

Public Member Functions inherited from ThreadController< TStackSize >
	ThreadController (const char *name, tprio_t priority)

void	start ()
	Start the thread.

void	stop ()
	Request thread termination and waits for termination.

Protected Member Functions
virtual void	OnStarted ()
	Called before running the periodic task. Optionally override this method to set up.

virtual void	PeriodicTask (efitick_t nowNt)=0
	Called periodically. Override this method to do work for your controller.

Protected Member Functions inherited from ThreadController< TStackSize >
void	main () override

Private Member Functions
void	ThreadTask () override final

Private Attributes
systime_t	m_period

Additional Inherited Members
Protected Attributes inherited from ThreadController< TStackSize >
const char *const	m_name

Detailed Description

template<int TStackSize>
class PeriodicController< TStackSize >

Base class for a controller that needs to run periodically to perform work.

For example, if we have some PID loop that needs to run at a specified frequency, inherit this class, and perform your period update in PeriodicTask. Any one-time setup work can be performed in OnStarted().

Each instance has one underlying thread meaning that task could be blocking/synchronous. This class effectively implements this functionality:

void thread() { OnStarted();

while(true) { PeriodicTask(getTimeNowNt()); sleep(); } }

Definition at line 36 of file periodic_thread_controller.h.

Constructor & Destructor Documentation

◆ PeriodicController() [1/2]

template<int TStackSize>

PeriodicController< TStackSize >::PeriodicController	(	const char *	name,
		tprio_t	priority,
		float	frequencyHz
	)

inline

Definition at line 82 of file periodic_thread_controller.h.

        : ThreadController<TStackSize>(name, priority)
        // First compute the period in systime_t
        , m_period(CH_CFG_ST_FREQUENCY / frequencyHz)
    {
    }

◆ PeriodicController() [2/2]

template<int TStackSize>

PeriodicController< TStackSize >::PeriodicController ( const char * name )

inline

Definition at line 89 of file periodic_thread_controller.h.

89 : PeriodicController (name, NORMALPRIO, 1) {

90 }

PeriodicController

Base class for a controller that needs to run periodically to perform work.

Definition periodic_thread_controller.h:37

Member Function Documentation

◆ OnStarted()

template<int TStackSize>

virtual void PeriodicController< TStackSize >::OnStarted ( )

inlineprotectedvirtual

Called before running the periodic task. Optionally override this method to set up.

Definition at line 47 of file periodic_thread_controller.h.

47{};

Referenced by PeriodicController< TStackSize >::ThreadTask().

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◆ PeriodicTask()

template<int TStackSize>

virtual void PeriodicController< TStackSize >::PeriodicTask ( efitick_t nowNt )

protectedpure virtual

Called periodically. Override this method to do work for your controller.

Implemented in CanWrite, and MainLoop.

Referenced by PeriodicController< TStackSize >::ThreadTask().

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◆ setPeriod()

template<int TStackSize>

void PeriodicController< TStackSize >::setPeriod ( int periodMs )

inline

sets milliseconds period

Definition at line 95 of file periodic_thread_controller.h.

                                 {
        float frequencyHz = 1000.0 / periodMs;
        this->m_period = CH_CFG_ST_FREQUENCY / frequencyHz;
    }

◆ ThreadTask()

template<int TStackSize>

void PeriodicController< TStackSize >::ThreadTask ( )

inlinefinaloverrideprivatevirtual

Implements ThreadController< TStackSize >.

Definition at line 55 of file periodic_thread_controller.h.

    {
        OnStarted();
 
        systime_t prev = chVTGetSystemTime();
        while(!chThdShouldTerminateX()) {
            efitick_t nowNt = getTimeNowNt();
 
            {
                ScopePerf perf(PE::PeriodicControllerPeriodicTask);
 
                // Run the controller's periodic work
                PeriodicTask(nowNt);
            }
 
            // This ensures the loop _actually_ runs at the desired frequency.
            // Suppose we want a loop speed of 500hz:
            // If the work takes 1ms, and we wait 2ms (1 / 500hz), we actually
            // get a loop at 333 hz.  We need to wait until 2ms after we START
            // doing work, so the loop runs at a predictable 500hz.
            prev = chThdSleepUntilWindowed(prev, chTimeAddX(prev, m_period));
        }
 
        criticalError("Thread died: %s", this->m_name);
    }