algorithm.c

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/**
 * @file    algorithm.c
 * @author  foxBMS Team
 * @date    2017-12-18 (date of creation)
 * @updated 2023-10-12 (date of last update)
 * @version v1.6.0
 * @ingroup ALGORITHMS
 * @prefix  ALGO
 *
 * @brief   Main module to handle the execution of algorithms
 *
 *
 */
 
/*========== Includes =======================================================*/
#include "algorithm.h"
 
#include "fassert.h"
#include "os.h"
 
#include <stdbool.h>
#include <stdint.h>
 
/*========== Macros and Definitions =========================================*/
 
/*========== Static Constant and Variable Definitions =======================*/
/**
 * This is a signal that skips initialization of #ALGO_Initialization()
 * until it has been requested.
 */
static bool algo_initializationRequested = false;
 
/*========== Extern Constant and Variable Definitions =======================*/
 
/*========== Static Function Prototypes =====================================*/
/**
 * @brief   initializes local variables and module internals needed to use the
 *          algorithm module
 */
static void ALGO_Initialization(void);
 
/*========== Static Function Implementations ================================*/
static void ALGO_Initialization(void) {
    /* iterate over all algorithms */
    for (uint16_t i = 0u; i < algo_length; i++) {
        /* check if the cycle time is valid */
        FAS_ASSERT((algo_algorithms[i].cycleTime_ms % ALGO_TICK_ms) == 0u);
 
        /* check only uninitialized algorithms */
        if (algo_algorithms[i].state == ALGO_UNINITIALIZED) {
            /* directly make ready when init function is a null pointer otherwise run init */
            if (algo_algorithms[i].fpInitialization == NULL_PTR) {
                algo_algorithms[i].state = ALGO_READY;
            } else {
                const STD_RETURN_TYPE_e result = algo_algorithms[i].fpInitialization();
                FAS_ASSERT((STD_OK == result) || (STD_NOT_OK == result));
                if (STD_OK == result) {
                    algo_algorithms[i].state = ALGO_READY;
                } else {
                    algo_algorithms[i].state = ALGO_FAILED_INIT;
                }
            }
        }
    }
}
 
/*========== Extern Function Implementations ================================*/
 
extern void ALGO_UnlockInitialization(void) {
    OS_EnterTaskCritical();
    algo_initializationRequested = true;
    OS_ExitTaskCritical();
}
 
extern void ALGO_MainFunction(void) {
    OS_EnterTaskCritical();
    const bool initializationRequested = algo_initializationRequested;
    OS_ExitTaskCritical();
    if (initializationRequested == true) {
        ALGO_Initialization();
        OS_EnterTaskCritical();
        algo_initializationRequested = false;
        OS_ExitTaskCritical();
    }
 
    static uint32_t counter_ticks = 0u;
 
    for (uint16_t i = 0u; i < algo_length; i++) {
        const bool runAlgorithmAsap = (algo_algorithms[i].cycleTime_ms == 0u);
        const bool runAlgorithmCycleElapsed =
            ((algo_algorithms[i].cycleTime_ms != 0u) && ((counter_ticks % algo_algorithms[i].cycleTime_ms) == 0u));
        if ((runAlgorithmAsap != false) || (runAlgorithmCycleElapsed != false)) {
            /* Cycle time elapsed -> call function */
            if (algo_algorithms[i].state == ALGO_READY) {
                /* Set state to running -> reset to READY before leaving algorithm function */
                algo_algorithms[i].state     = ALGO_RUNNING;
                algo_algorithms[i].startTime = OS_GetTickCount();
                algo_algorithms[i].fpAlgorithm();
                ALGO_MarkAsDone(i);
            }
            /* check if we need to reinitialize */
            if (algo_algorithms[i].state == ALGO_REINIT_REQUESTED) {
                /* set to uninitialized so that the algorithm can be reinitialized */
                algo_algorithms[i].state = ALGO_UNINITIALIZED;
 
                ALGO_UnlockInitialization();
            }
        }
    }
 
    counter_ticks += ALGO_TICK_ms;
}
 
extern void ALGO_MonitorExecutionTime(void) {
    const uint32_t timestamp = OS_GetTickCount();
 
    for (uint16_t i = 0u; i < algo_length; i++) {
        if ((algo_algorithms[i].startTime != 0u) && (algo_algorithms[i].state == ALGO_RUNNING) &&
            ((algo_algorithms[i].startTime + algo_algorithms[i].maxCalculationDuration_ms) < timestamp)) {
            /* Block task from further execution because of runtime violation, but task will finish its execution */
            algo_algorithms[i].state = ALGO_BLOCKED;
 
            /* TODO: Add diag call to notify error in algorithm module */
        }
    }
}
 
/*========== Externalized Static Function Implementations (Unit Test) =======*/
#ifdef UNITY_UNIT_TEST
extern void TEST_ALGO_ResetInitializationRequest() {
    algo_initializationRequested = false;
}
#endif