C++ prvCheckOtherTasksAreStillRunning函数代码示例

static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayPeriod = mainCHECK_PERIOD;
TickType_t xLastWakeTime;

	/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
	functions correctly. */
	xLastWakeTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Delay until it is time to execute again.  The delay period is 
		shorter following an error. */
		vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );

		/* Check all the demo application tasks are executing without 
		error. If an error is found the delay period is shortened - this
		has the effect of increasing the flash rate of the 'check' task
		LED. */
		if( prvCheckOtherTasksAreStillRunning() == pdFAIL )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_CHECK_PERIOD;
		}

		/* Toggle the LED each cycle round. */
		vParTestToggleLED( mainCHECK_TASK_LED );
	}
}

static void prvErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_CHECK_DELAY, xLastExecutionTime;

	/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
	works correctly. */
	xLastExecutionTime = xTaskGetTickCount();

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error. */
	for( ;; )
	{
		/* Wait until it is time to check again.  The time we wait here depends
		on whether an error has been detected or not.  When an error is 
		detected the time is shortened resulting in a faster LED flash rate. */
		/* Perform this check every mainCHECK_DELAY milliseconds. */
		vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );

		/* See if the other tasks are all ok. */
		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error occurred in one of the tasks so shorten the delay 
			period - which has the effect of increasing the frequency of the
			LED toggle. */
			xDelayPeriod = mainERROR_CHECK_DELAY;
		}

		/* Flash! */
		vParTestToggleLED( mainCHECK_TEST_LED );
	}
}

static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;

	/* The parameters are not used in this task. */
	( void ) pvParameters;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  If an error is detected then the delay period
	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
	the on board LED flash rate will increase. */

	for( ;; )
	{
		/* Delay until it is time to execute again. */
		vTaskDelay( xDelayPeriod );
	
		/* Check all the standard demo application tasks are executing without
		error. */
		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_FLASH_PERIOD;
		}
		
		vParTestToggleLED( mainCHECK_TASK_LED );
	}
}

static portTASK_FUNCTION( vErrorChecks, pvParameters )
{
TickType_t xLastCheckTime;
TickType_t xDelayTime = mainNO_ERROR_CHECK_PERIOD;
char cErrorOccurred;

	/* We need to initialise xLastCheckTime prior to the first call to
	vTaskDelayUntil(). */
	xLastCheckTime = xTaskGetTickCount();

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error. */
	for( ;; )
	{
		/* Wait until it is time to check the other tasks again. */
		vTaskDelayUntil( &xLastCheckTime, xDelayTime );

		/* Check all the other tasks are running, and running without ever
		having an error. */
		cErrorOccurred = prvCheckOtherTasksAreStillRunning();

		/* If an error was detected increase the frequency of the LED flash. */
		if( cErrorOccurred == pdTRUE )
		{
			xDelayTime = mainERROR_CHECK_PERIOD;
		}

		/* Flash the LED for visual feedback. */
		vParTestToggleLED( mainCHECK_TASK_LED );
	}
}

static void vErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;

	/* Just to stop compiler warnings. */
	( void ) pvParameters;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  If an error is detected then the delay period
	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
	the on board LED flash rate will increase. */

	for( ;; )
	{
		/* Delay until it is time to execute again. */
		vTaskDelay( xDelayPeriod );

		/* Check all the standard demo application tasks are executing without
		error.	*/
		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_FLASH_PERIOD;
		}

		/* The toggle rate of the LED depends on how long this task delays for.
		An error reduces the delay period and so increases the toggle rate. */
		vParTestToggleLED( mainON_BOARD_LED_BIT );
	}
}

static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;

	/* Parameters are not used. */
	( void ) pvParameters;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  If an error is detected then the delay period
	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
	the on board LED flash rate will increase.

	This task runs at the highest priority. */

	for( ;; )
	{
		/* The period of the delay depends on whether an error has been 
		detected or not.  If an error has been detected then the period
		is reduced to increase the LED flash rate. */
		vTaskDelay( xDelayPeriod );

		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_FLASH_PERIOD;
		}

		/* Toggle the LED before going back to wait for the next cycle. */
		vParTestToggleLED( mainCHECK_LED );
	}
}

static portTASK_FUNCTION( vErrorChecks, pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_DELAY;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error. */
	for( ;; )
	{
		/* Wait until it is time to check again.  The time we wait here depends
		on whether an error has been detected or not.  When an error is
		detected the time is shortened resulting in a faster LED flash rate. */
		vTaskDelay( xDelayPeriod );

		/* See if the other tasks are all ok. */
		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error occurred in one of the tasks so shorten the delay
			period - which has the effect of increasing the frequency of the
			LED toggle. */
			xDelayPeriod = mainERROR_CHECK_DELAY;
		}

		/* Flash! */
		vParTestToggleLED( mainCHECK_LED );
	}
}

static void vErrorChecks( void *pvParameters )
{
portTickType xDelayTime = mainNO_ERROR_CHECK_PERIOD;
portBASE_TYPE xErrorOccurred;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error. */
	for( ;; )
	{
		/* Wait until it is time to check the other tasks. */
		vTaskDelay( xDelayTime );

		/* Check all the other tasks are running, and running without ever
		having an error. */
		xErrorOccurred = prvCheckOtherTasksAreStillRunning();

		/* If an error was detected increase the frequency of the LED flash. */
		if( xErrorOccurred == pdTRUE )
		{
			xDelayTime = mainERROR_CHECK_PERIOD;
		}

		/* Flash the LED for visual feedback. */
		vParTestToggleLED( mainCHECK_TASK_LED );
	}
}

static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
TickType_t xLastWakeTime;

	/* The parameters are not used. */
	( void ) pvParameters;

	/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
	functions correctly. */
	xLastWakeTime = xTaskGetTickCount();

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  If an error is detected then the delay period
	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
	the Check LED flash rate will increase. */
	for( ;; )
	{
		/* Delay until it is time to execute again.  The delay period is
		shorter following an error. */
		vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );

		/* Check all the standard demo application tasks are executing without
		error.  */
		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_FLASH_PERIOD;
		}

		vParTestToggleLED( mainCHECK_LED );
	}
}

static void vErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
unsigned long ulMemCheckTaskRunningCount;
xTaskHandle xCreatedTask;

	/* Just to stop compiler warnings. */
	( void ) pvParameters;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  If an error is detected then the delay period
	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
	the on board LED flash rate will increase. 
	
	In addition to the standard tests the memory allocator is tested through
	the dynamic creation and deletion of a task each cycle.  Each time the 
	task is created memory must be allocated for its stack.  When the task is
	deleted this memory is returned to the heap.  If the task cannot be created 
	then it is likely that the memory allocation failed. */

	for( ;; )
	{
		/* Reset xCreatedTask.  This is modified by the task about to be 
		created so we can tell if it is executing correctly or not. */
		xCreatedTask = mainNO_TASK;

		/* Dynamically create a task - passing ulMemCheckTaskRunningCount as a 
		parameter. */
		ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;		
		if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
		{
			/* Could not create the task - we have probably run out of heap. */
			xDelayPeriod = mainERROR_FLASH_PERIOD;
		}

		/* Delay until it is time to execute again. */
		vTaskDelay( xDelayPeriod );

		/* Delete the dynamically created task. */
		if( xCreatedTask != mainNO_TASK )
		{
			vTaskDelete( xCreatedTask );
		}

		/* Check all the standard demo application tasks are executing without 
		error.  ulMemCheckTaskRunningCount is checked to ensure it was
		modified by the task just deleted. */
		if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_FLASH_PERIOD;
		}

		/* The toggle rate of the LED depends on how long this task delays for.
		An error reduces the delay period and so increases the toggle rate. */
		vParTestToggleLED( mainON_BOARD_LED_BIT );
	}
}

/*
 * Cycle for ever, delaying then checking all the other tasks are still
 * operating without error.  If an error is detected then the delay period
 * is decreased from mainCHECK_PERIOD to mainERROR_CHECK_PERIOD so
 * the on board LED flash rate will increase. 
 *
 * In addition to the standard tests the memory allocator is tested through
 * the dynamic creation and deletion of a task each cycle.  Each time the 
 * task is created memory must be allocated for its stack.  When the task is
 * deleted this memory is returned to the heap.  If the task cannot be created 
 * then it is likely that the memory allocation failed.   In addition the
 * dynamically created task allocates and frees memory while it runs. 
 */
static void vErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainCHECK_PERIOD;
volatile unsigned long ulMemCheckTaskRunningCount;
xTaskHandle xCreatedTask;
portTickType xLastWakeTime;

	/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
	functions correctly. */
	xLastWakeTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Set ulMemCheckTaskRunningCount to a known value so we can check
		later that it has changed. */
		ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;

		/* Dynamically create a task - passing ulMemCheckTaskRunningCount as a 
		parameter. */		
		xCreatedTask = mainNO_TASK;
		if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
		{
			/* Could not create the task - we have probably run out of heap. */
			xDelayPeriod = mainERROR_CHECK_PERIOD;
		}


		/* Delay until it is time to execute again.  The delay period is 
		shorter following an error. */
		vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );

	
		/* Delete the dynamically created task. */
		if( xCreatedTask != mainNO_TASK )
		{
			vTaskDelete( xCreatedTask );
		}

		/* Check all the standard demo application tasks are executing without 
		error.  ulMemCheckTaskRunningCount is checked to ensure it was
		modified by the task just deleted. */
		if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_CHECK_PERIOD;
		}

		vParTestToggleLED( mainCHECK_TASK_LED );
	}
}

static
portTASK_FUNCTION( vErrorChecks, pvParameters )
{
    unsigned long ulMemCheckTaskRunningCount;
    TaskHandle_t     xCreatedTask;

    /* The parameters are not used in this function. */
    ( void )pvParameters;

    xSerialPortInitMinimal( mainCOM_TEST_BAUD_RATE, 8 );

    for( ;; )
    {
        ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;
        xCreatedTask = mainNO_TASK;

        if( xTaskCreate
            ( vMemCheckTask, "MEM_CHECK",
              configMINIMAL_STACK_SIZE, ( void * )&ulMemCheckTaskRunningCount,
              tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
        {
            xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
        }

        /* Delay until it is time to execute again. */
        vTaskDelay( mainCHECK_PERIOD );

        /* Delete the dynamically created task. */
        if( xCreatedTask != mainNO_TASK )
        {
            vTaskDelete( xCreatedTask );
        }

        if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) !=
            pdPASS )
        {
            xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );
        }
        else
        {
            xSerialPutChar( xSTDComPort, '.', portMAX_DELAY );
        }
    }
}

static void vErrorChecks( void *pvParameters )
{
static portCHAR cCheckVal[ mainMAX_FLAG_STRING_LEN ];
portCHAR *pcFlagString;
xLCDMessage xMessageToSend;
portTickType xLastWakeTime;
portCHAR *pcStringsToDisplay[] = {										
									"Check status flag"
								 };

	/* The parameters are not used in this task. */
	( void ) pvParameters;
	
	pcFlagString = &cCheckVal[ 0 ];	

	/* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
	functions correctly. */
	xLastWakeTime = xTaskGetTickCount();

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error. */
	for( ;; )
	{
		/* Delay until it is time to execute again. */
		vTaskDelayUntil( &xLastWakeTime, mainCHECK_PERIOD );
	
		/* Check all the other tasks to see if the error flag needs updating. */
		prvCheckOtherTasksAreStillRunning();
		
		/* Create a string indicating the error flag status. */
		sprintf( cCheckVal, "equals 0x%x       ", ulErrorFlags );
		xMessageToSend.xRow = Line2;

		/* Send the first part of the message to the LCD task. */
		xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ 0 ];
		xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
		vTaskDelay( mainSTRING_WRITE_DELAY );

		/* Send the second part of the message to the LCD task. */
		xMessageToSend.ppcMessageToDisplay = &pcFlagString;
		xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 );
	}
}

static void prvCheckTask( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD_MS;
portTickType xLastExecutionTime;

	/* Just to stop compiler warnings. */
	( void ) pvParameters;

	/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
	works correctly. */
	xLastExecutionTime = xTaskGetTickCount();

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  If an error is detected then the delay period
	is decreased from mainNO_ERROR_FLASH_PERIOD_MS to mainERROR_FLASH_PERIOD_MS so
	the on board LED flash rate will increase.  NOTE:  This task could easily
	be replaced by a software timer callback to remove the overhead of having
	an extra task. */

	for( ;; )
	{
		/* Delay until it is time to execute again. */
		vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );

		/* Check all the standard demo application tasks are executing without
		error.	*/
		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash the LED
			at a higher frequency to give visible feedback that something has
			gone wrong (it might just be that the loop back connector required
			by the comtest tasks has not been fitted). */
			xDelayPeriod = mainERROR_FLASH_PERIOD_MS;
		}

		/* The toggle rate of the LED depends on how long this task delays for.
		An error reduces the delay period and so increases the toggle rate. */
		vParTestToggleLED( mainON_BOARD_LED_BIT );
	}
}

static portTASK_FUNCTION( executeSensorTask, pvParameters )
{
    uint32_t xLastWakeUpTime;
    uint16_t ledCycleCounter = 0;
    
    //Initialize the wake up time with the current time
    xLastWakeUpTime = xTaskGetTickCount();

    for(;;)
    {
        //Execute this task each 50ms
        vTaskDelayUntil( &xLastWakeUpTime, SENSOR_TASK_CYCLE );

        ledCycleCounter += 50;

        if( prvCheckOtherTasksAreStillRunning() )
        {
            //signal that everything is ok
        }
        else
        {
            //signal error condition
        }

        //toogle the green led each 500ms
        if( ledCycleCounter % GREEN_LED_TOGGLE_CYCLE == 0 )
        {
            PORTA ^= (1<<PA7);
        }
        
        if( ledCycleCounter > 65000 )
        {
            ledCycleCounter = 0;
        }
       
    }
}