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/** |
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* @file periodic_thread_controller.h |
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* |
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* @date Jan 5, 2019 |
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* @author Matthew Kennedy, (c) 2019 |
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*/ |
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#pragma once |
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#include "thread_controller.h" |
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#include "efitime.h" |
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#include "perf_trace.h" |
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/** |
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* @brief Base class for a controller that needs to run periodically to perform work. |
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* |
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* For example, if we have some PID loop that needs to run at a specified frequency, |
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* inherit this class, and perform your period update in PeriodicTask. Any one-time |
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* setup work can be performed in OnStarted(). |
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* |
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* Each instance has one underlying thread meaning that task could be blocking/synchronous. |
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* This class effectively implements this functionality: |
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* |
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* void thread() |
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* { |
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* OnStarted(); |
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* |
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* while(true) |
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* { |
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* PeriodicTask(getTimeNowNt()); |
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* sleep(); |
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* } |
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* } |
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*/ |
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template <int TStackSize> |
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class PeriodicController : public ThreadController<TStackSize> |
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{ |
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private: |
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// time in ChibiOS time units, see CH_CFG_ST_FREQUENCY |
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systime_t m_period; |
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protected: |
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/** |
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* @brief Called before running the periodic task. Optionally override this method to set up. |
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*/ |
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virtual void OnStarted() {}; |
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/** |
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* @brief Called periodically. Override this method to do work for your controller. |
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*/ |
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virtual void PeriodicTask(efitick_t nowNt) = 0; |
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private: |
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void ThreadTask() override final |
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{ |
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OnStarted(); |
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systime_t prev = chVTGetSystemTime(); |
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while(!chThdShouldTerminateX()) { |
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efitick_t nowNt = getTimeNowNt(); |
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{ |
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ScopePerf perf(PE::PeriodicControllerPeriodicTask); |
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// Run the controller's periodic work |
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PeriodicTask(nowNt); |
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} |
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// This ensures the loop _actually_ runs at the desired frequency. |
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// Suppose we want a loop speed of 500hz: |
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// If the work takes 1ms, and we wait 2ms (1 / 500hz), we actually |
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// get a loop at 333 hz. We need to wait until 2ms after we START |
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// doing work, so the loop runs at a predictable 500hz. |
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prev = chThdSleepUntilWindowed(prev, chTimeAddX(prev, m_period)); |
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} |
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criticalError("Thread died: %s", this->m_name); |
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} |
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public: |
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PeriodicController(const char* name, tprio_t priority, float frequencyHz) |
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: ThreadController<TStackSize>(name, priority) |
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// First compute the period in systime_t |
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, m_period(CH_CFG_ST_FREQUENCY / frequencyHz) |
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{ |
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} |
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PeriodicController(const char* name) : PeriodicController (name, NORMALPRIO, 1) { |
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} |
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/** |
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* sets milliseconds period |
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*/ |
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void setPeriod(int periodMs) { |
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float frequencyHz = 1000.0 / periodMs; |
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this->m_period = CH_CFG_ST_FREQUENCY / frequencyHz; |
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} |
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}; |
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// let's make sure period is not below specified threshold |
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#define NOT_TOO_OFTEN(threshold, value) maxI(threshold, value) |
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