polyorb_hi-sporadic_task.adb 4.63 KB
Newer Older
1 2 3 4 5 6 7 8
------------------------------------------------------------------------------
--                                                                          --
--                          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                                  --
--                                                                          --
9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
--    Copyright (C) 2007-2009 Telecom ParisTech, 2010-2015 ESA & ISAE.      --
--                                                                          --
-- PolyORB-HI is free software; you can redistribute it and/or modify under --
-- terms of the  GNU General Public License as published  by the Free Soft- --
-- ware  Foundation;  either version 3,  or (at your option) any later ver- --
-- sion. 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.                     --
--                                                                          --
-- As a special exception under Section 7 of GPL version 3, you are granted --
-- additional permissions described in the GCC Runtime Library Exception,   --
-- version 3.1, as published by the Free Software Foundation.               --
--                                                                          --
-- You should have received a copy of the GNU General Public License and    --
-- a copy of the GCC Runtime Library Exception along with this program;     --
-- see the files COPYING3 and COPYING.RUNTIME respectively.  If not, see    --
-- <http://www.gnu.org/licenses/>.                                          --
26
--                                                                          --
jhugues's avatar
jhugues committed
27 28
--              PolyORB-HI/Ada is maintained by the TASTE project           --
--                      (taste-users@lists.tuxfamily.org)                   --
29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
--                                                                          --
------------------------------------------------------------------------------

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)

60
      Activate_Entrypoint;
61 62 63 64 65 66 67

      --  Wait for the network initialization to be finished

      pragma Debug
        (Put_Line
         (Verbose,
          "Sporadic Task "
68 69
          + Entity_Image (Entity)
          + ": Wait initialization"));
70 71

      Suspend_Until_True (Task_Suspension_Objects (Entity));
hugues.jerome's avatar
hugues.jerome committed
72
      --      delay until System_Startup_Time;
73 74 75 76

      pragma Debug (Put_Line
                    (Verbose,
                     "Sporadic task initialized for entity "
77
                     + Entity_Image (Entity)));
78 79 80 81 82 83 84 85 86


      --  Main task loop

      loop
         pragma Debug
           (Put_Line
            (Verbose,
             "Sporadic Task "
87 88
             + Entity_Image (Entity)
             + ": New Dispatch"));
89 90 91 92 93 94 95 96 97

         --  Block until an event is received

         Wait_For_Incoming_Events (Entity, Port);

         pragma Debug
           (Put_Line
            (Verbose,
             "Sporadic Task "
98 99
             + Entity_Image (Entity)
             + ": received event"));
100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131

         --  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;