polyorb_hi-sporadic_task.adb 4.79 KB
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------------------------------------------------------------------------------
--                                                                          --
--                          PolyORB HI COMPONENTS                           --
--                                                                          --
--             P O L Y O R B _ H I . S P O R A D I C _ T A S K              --
--                                                                          --
--                                 B o d y                                  --
--                                                                          --
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--    Copyright (C) 2007-2009 Telecom ParisTech, 2010-2012 ESA & ISAE.      --
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--                                                                          --
-- PolyORB HI is free software; you  can  redistribute  it and/or modify it --
-- under terms of the GNU General Public License as published by the Free   --
-- Software Foundation; either version 2, or (at your option) any later.    --
-- PolyORB HI is distributed  in the hope that it will be useful, but       --
-- WITHOUT ANY WARRANTY;  without even the implied warranty of              --
-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General --
-- Public License for more details. You should have received  a copy of the --
-- GNU General Public  License  distributed with PolyORB HI; see file       --
-- COPYING. If not, write  to the Free  Software Foundation, 51 Franklin    --
-- Street, Fifth Floor, Boston, MA 02111-1301, USA.                         --
--                                                                          --
-- As a special exception,  if other files  instantiate  generics from this --
-- unit, or you link  this unit with other files  to produce an executable, --
-- this  unit  does not  by itself cause  the resulting  executable  to  be --
-- covered  by the  GNU  General  Public  License.  This exception does not --
-- however invalidate  any other reasons why  the executable file  might be --
-- covered by the  GNU Public License.                                      --
--                                                                          --
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--              PolyORB-HI/Ada is maintained by the TASTE project           --
--                      (taste-users@lists.tuxfamily.org)                   --
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--                                                                          --
------------------------------------------------------------------------------

with Ada.Synchronous_Task_Control;

with PolyORB_HI.Output;
with PolyORB_HI.Suspenders;

package body PolyORB_HI.Sporadic_Task is

   use PolyORB_HI.Errors;
   use PolyORB_HI.Output;
   use PolyORB_HI_Generated.Deployment;
   use PolyORB_HI.Suspenders;
   use Ada.Real_Time;
   use Ada.Synchronous_Task_Control;

   Next_Deadline_Val : Time;

   -----------------------
   -- The_Sporadic_Task --
   -----------------------

   task body The_Sporadic_Task is
      Port       : Port_Type;
      Next_Start : Time;
      Error : Error_Kind;

   begin
      --  Run the initialize entrypoint (if any)

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      Activate_Entrypoint;
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      --  Wait for the network initialization to be finished

      pragma Debug
        (Put_Line
         (Verbose,
          "Sporadic Task "
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          + Entity_Image (Entity)
          + ": Wait initialization"));
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      Suspend_Until_True (Task_Suspension_Objects (Entity));
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      --      delay until System_Startup_Time;
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      pragma Debug (Put_Line
                    (Verbose,
                     "Sporadic task initialized for entity "
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                     + Entity_Image (Entity)));
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      --  Main task loop

      loop
         pragma Debug
           (Put_Line
            (Verbose,
             "Sporadic Task "
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             + Entity_Image (Entity)
             + ": New Dispatch"));
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         --  Block until an event is received

         Wait_For_Incoming_Events (Entity, Port);

         pragma Debug
           (Put_Line
            (Verbose,
             "Sporadic Task "
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             + Entity_Image (Entity)
             + ": received event"));
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         --  Calculate the next start time according to the minimal
         --  inter-arrival time.

         Next_Start        := Ada.Real_Time.Clock + Task_Period;
         Next_Deadline_Val := Ada.Real_Time.Clock + Task_Deadline;

         --  Execute the job

         Error := Job (Port);

         if Error /= Error_None then
            Recover_Entrypoint;
         end if;

         --  Sleep to guarantee at least the minimal inter-arrival
         --  time elapses.

         delay until Next_Start;
      end loop;
   end The_Sporadic_Task;

   -------------------
   -- Next_Deadline --
   -------------------

   function Next_Deadline return Ada.Real_Time.Time is
   begin
      return Next_Deadline_Val;
   end Next_Deadline;

end PolyORB_HI.Sporadic_Task;