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Merge remote-tracking branch 'upstream/master' into mueller/SimpleRingBufferUpdate2

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This commit is contained in:
Robin Müller 2020-08-28 13:30:44 +02:00
commit 053f75968b
24 changed files with 244 additions and 143 deletions
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117
container/SinglyLinkedList.h
View File

@ -1,10 +1,13 @@
#ifndef SINGLYLINKEDLIST_H_
#define SINGLYLINKEDLIST_H_
#ifndef FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
#define FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
#include <cstddef>
#include <cstdint>
#include <stddef.h>
#include <stdint.h>
/**
* \ingroup container
* @brief Linked list data structure,
* each entry has a pointer to the next entry (singly)
* @ingroup container
*/
template<typename T>
class LinkedElement {
@ -12,11 +15,8 @@ public:
T *value;
class Iterator {
public:
LinkedElement<T> *value;
Iterator() :
value(NULL) {
}
LinkedElement<T> *value = nullptr;
Iterator() {}
Iterator(LinkedElement<T> *element) :
value(element) {
@ -45,12 +45,11 @@ public:
}
};
LinkedElement(T* setElement, LinkedElement<T>* setNext = NULL) : value(setElement),
next(setNext) {
}
virtual ~LinkedElement(){
LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
value(setElement), next(setNext) {}
virtual ~LinkedElement(){}
}
virtual LinkedElement* getNext() const {
return next;
}
@ -58,11 +57,16 @@ public:
virtual void setNext(LinkedElement* next) {
this->next = next;
}
virtual void setEnd() {
this->next = nullptr;
}
LinkedElement* begin() {
return this;
}
LinkedElement* end() {
return NULL;
return nullptr;
}
private:
LinkedElement *next;
@ -71,37 +75,80 @@ private:
template<typename T>
class SinglyLinkedList {
public:
SinglyLinkedList() :
start(NULL) {
}
using ElementIterator = typename LinkedElement<T>::Iterator;
SinglyLinkedList() {}
SinglyLinkedList(ElementIterator start) :
start(start.value) {}
SinglyLinkedList(typename LinkedElement<T>::Iterator start) :
start(start.value) {
}
SinglyLinkedList(LinkedElement<T>* startElement) :
start(startElement) {
}
typename LinkedElement<T>::Iterator begin() const {
return LinkedElement<T>::Iterator::Iterator(start);
}
typename LinkedElement<T>::Iterator::Iterator end() const {
return LinkedElement<T>::Iterator::Iterator();
start(startElement) {}
ElementIterator begin() const {
return ElementIterator::Iterator(start);
}
uint32_t getSize() const {
uint32_t size = 0;
/** Returns iterator to nulltr */
ElementIterator end() const {
return ElementIterator::Iterator();
}
/**
* Returns last element in singly linked list.
* @return
*/
ElementIterator back() const {
LinkedElement<T> *element = start;
while (element->getNext() != nullptr) {
element = element->getNext();
}
return ElementIterator::Iterator(element);
}
size_t getSize() const {
size_t size = 0;
LinkedElement<T> *element = start;
while (element != NULL) {
while (element != nullptr) {
size++;
element = element->getNext();
}
return size;
}
void setStart(LinkedElement<T>* setStart) {
start = setStart;
void setStart(LinkedElement<T>* firstElement) {
start = firstElement;
}
void setNext(LinkedElement<T>* currentElement,
LinkedElement<T>* nextElement) {
currentElement->setNext(nextElement);
}
void setLast(LinkedElement<T>* lastElement) {
lastElement->setEnd();
}
void insertElement(LinkedElement<T>* element, size_t position) {
LinkedElement<T> *currentElement = start;
for(size_t count = 0; count < position; count++) {
if(currentElement == nullptr) {
return;
}
currentElement = currentElement->getNext();
}
LinkedElement<T>* elementAfterCurrent = currentElement->next;
currentElement->setNext(element);
if(elementAfterCurrent != nullptr) {
element->setNext(elementAfterCurrent);
}
}
void insertBack(LinkedElement<T>* lastElement) {
back().value->setNext(lastElement);
}
protected:
LinkedElement<T> *start;
LinkedElement<T> *start = nullptr;
};
#endif /* SINGLYLINKEDLIST_H_ */

2
datapool/DataPool.cpp
View File

@ -61,7 +61,7 @@ ReturnValue_t DataPool::freeDataPoolLock() {
}
ReturnValue_t DataPool::lockDataPool() {
ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT);
ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
if ( status != RETURN_OK ) {
sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
}

2
events/EventManager.cpp
View File

@ -147,7 +147,7 @@ void EventManager::printEvent(EventMessage* message) {
#endif
void EventManager::lockMutex() {
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
}
void EventManager::unlockMutex() {

1
framework.mk → fsfw.mk
View File

@ -1,3 +1,4 @@
# This submake file needs to be included by the primary Makefile.
# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
# Valid API settings: rtems, linux, freeRTOS, host

12
health/HealthTable.cpp
View File

@ -26,7 +26,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
void HealthTable::setHealth(object_id_t object,
HasHealthIF::HealthState newState) {
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
iter->second = newState;
@ -36,7 +36,7 @@ void HealthTable::setHealth(object_id_t object,
HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
state = iter->second;
@ -46,7 +46,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
}
uint32_t HealthTable::getPrintSize() {
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
uint32_t size = healthMap.size() * 5 + 2;
mutex->unlockMutex();
return size;
@ -54,7 +54,7 @@ uint32_t HealthTable::getPrintSize() {
bool HealthTable::hasHealth(object_id_t object) {
bool exits = false;
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
HealthMap::iterator iter = healthMap.find(object);
if (iter != healthMap.end()) {
exits = true;
@ -64,7 +64,7 @@ bool HealthTable::hasHealth(object_id_t object) {
}
void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
size_t size = 0;
uint16_t count = healthMap.size();
ReturnValue_t result = SerializeAdapter::serialize(&count,
@ -85,7 +85,7 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
ReturnValue_t HealthTable::iterate(
std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
if (reset) {
mapIterator = healthMap.begin();
}

18
internalError/InternalErrorReporter.cpp
View File

@ -54,7 +54,7 @@ void InternalErrorReporter::lostTm() {
uint32_t InternalErrorReporter::getAndResetQueueHits() {
uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
value = queueHits;
queueHits = 0;
mutex->unlockMutex();
@ -63,21 +63,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
uint32_t InternalErrorReporter::getQueueHits() {
uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
value = queueHits;
mutex->unlockMutex();
return value;
}
void InternalErrorReporter::incrementQueueHits() {
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
queueHits++;
mutex->unlockMutex();
}
uint32_t InternalErrorReporter::getAndResetTmHits() {
uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
value = tmHits;
tmHits = 0;
mutex->unlockMutex();
@ -86,14 +86,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
uint32_t InternalErrorReporter::getTmHits() {
uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
value = tmHits;
mutex->unlockMutex();
return value;
}
void InternalErrorReporter::incrementTmHits() {
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
tmHits++;
mutex->unlockMutex();
}
@ -104,7 +104,7 @@ void InternalErrorReporter::storeFull() {
uint32_t InternalErrorReporter::getAndResetStoreHits() {
uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
value = storeHits;
storeHits = 0;
mutex->unlockMutex();
@ -113,14 +113,14 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
uint32_t InternalErrorReporter::getStoreHits() {
uint32_t value;
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
value = storeHits;
mutex->unlockMutex();
return value;
}
void InternalErrorReporter::incrementStoreHits() {
mutex->lockMutex(MutexIF::NO_TIMEOUT);
mutex->lockMutex(MutexIF::BLOCKING);
storeHits++;
mutex->unlockMutex();
}

16
ipc/MutexHelper.h
View File

@ -6,15 +6,21 @@
class MutexHelper {
public:
MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0) :
internalMutex(mutex) {
ReturnValue_t status = mutex->lockMutex(timeoutMs);
if(status != HasReturnvaluesIF::RETURN_OK){
sif::error << "MutexHelper: Lock of Mutex failed " << status << std::endl;
ReturnValue_t status = mutex->lockMutex(timeoutType,
timeoutMs);
if(status == MutexIF::MUTEX_TIMEOUT) {
sif::error << "MutexHelper: Lock of mutex failed with timeout of "
<< timeoutMs << " milliseconds!" << std::endl;
}
else if(status != HasReturnvaluesIF::RETURN_OK){
sif::error << "MutexHelper: Lock of Mutex failed with code " <<
status << std::endl;
}
}
~MutexHelper() {
internalMutex->unlockMutex();
}

30
ipc/MutexIF.h
View File

@ -3,9 +3,33 @@
#include "../returnvalues/HasReturnvaluesIF.h"
/**
* @brief Common interface for OS Mutex objects which provide MUTual EXclusion.
* @details https://en.wikipedia.org/wiki/Lock_(computer_science)
* @ingroup osal
* @ingroup interface
*/
class MutexIF {
public:
static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.
/**
* Different types of timeout for the mutex lock.
*/
enum TimeoutType {
POLLING, //!< If mutex is not available, return immediately
WAITING, //!< Wait a specified time for the mutex to become available
BLOCKING //!< Block indefinitely until the mutex becomes available.
};
/**
* Lock the mutex. The timeout value will only be used for
* TimeoutType::WAITING
* @param timeoutType
* @param timeoutMs
* @return
*/
virtual ReturnValue_t lockMutex(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
virtual ReturnValue_t unlockMutex() = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
/**
@ -57,9 +81,7 @@ public:
*/
static const ReturnValue_t MUTEX_DESTROYED_WHILE_WAITING = MAKE_RETURN_CODE(12);
virtual ~MutexIF() {}
virtual ReturnValue_t lockMutex(uint32_t timeoutMs) = 0;
virtual ReturnValue_t unlockMutex() = 0;
virtual ~MutexIF() {}
};

4
osal/FreeRTOS/Clock.cpp
View File

@ -155,7 +155,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -170,7 +170,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}

37
osal/FreeRTOS/Mutex.cpp
View File

@ -1,28 +1,32 @@
#include "Mutex.h"
#include <framework/osal/FreeRTOS/Mutex.h>
#include "../../serviceinterface/ServiceInterfaceStream.h"
const uint32_t MutexIF::NO_TIMEOUT = 0;
Mutex::Mutex() {
handle = xSemaphoreCreateMutex();
//TODO print error
if(handle == nullptr) {
sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
}
}
Mutex::~Mutex() {
if (handle != 0) {
if (handle != nullptr) {
vSemaphoreDelete(handle);
}
}
ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
if (handle == 0) {
//TODO Does not exist
return HasReturnvaluesIF::RETURN_FAILED;
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType,
uint32_t timeoutMs) {
if (handle == nullptr) {
return MutexIF::MUTEX_NOT_FOUND;
}
TickType_t timeout = portMAX_DELAY;
if (timeoutMs != NO_TIMEOUT) {
// If the timeout type is BLOCKING, this will be the correct value.
uint32_t timeout = portMAX_DELAY;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
@ -30,21 +34,18 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
//TODO could not be acquired/timeout
return HasReturnvaluesIF::RETURN_FAILED;
return MutexIF::MUTEX_TIMEOUT;
}
}
ReturnValue_t Mutex::unlockMutex() {
if (handle == 0) {
//TODO Does not exist
return HasReturnvaluesIF::RETURN_FAILED;
if (handle == nullptr) {
return MutexIF::MUTEX_NOT_FOUND;
}
BaseType_t returncode = xSemaphoreGive(handle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
//TODO is not owner
return HasReturnvaluesIF::RETURN_FAILED;
return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
}
}

27
osal/FreeRTOS/Mutex.h
View File

@ -1,22 +1,29 @@
#ifndef OS_RTEMS_MUTEX_H_
#define OS_RTEMS_MUTEX_H_
#ifndef FRAMEWORK_FREERTOS_MUTEX_H_
#define FRAMEWORK_FREERTOS_MUTEX_H_
#include "../../ipc/MutexIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include <FreeRTOS.h>
#include "semphr.h"
/**
* @brief OS component to implement MUTual EXclusion
*
* @details
* Mutexes are binary semaphores which include a priority inheritance mechanism.
* Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
* @ingroup osal
*/
class Mutex : public MutexIF {
public:
Mutex();
~Mutex();
ReturnValue_t lockMutex(uint32_t timeoutMs);
ReturnValue_t unlockMutex();
ReturnValue_t lockMutex(TimeoutType timeoutType,
uint32_t timeoutMs) override;
ReturnValue_t unlockMutex() override;
private:
SemaphoreHandle_t handle;
};
#endif /* OS_RTEMS_MUTEX_H_ */
#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */

6
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -81,7 +81,7 @@ void PeriodicTask::taskFunctionality() {
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
@ -91,9 +91,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
}
objectList.push_back(newObject);
if(setTaskIF) {
newObject->setTaskIF(this);
}
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}

3
osal/FreeRTOS/PeriodicTask.h
View File

@ -63,8 +63,7 @@ public:
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object,
bool setTaskIF = true) override;
ReturnValue_t addComponent(object_id_t object) override;
uint32_t getPeriodMs() const override;

4
osal/linux/Clock.cpp
View File

@ -179,7 +179,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
@ -194,7 +194,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if(timeMutex==NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}

37
osal/linux/Mutex.cpp
View File

@ -2,7 +2,6 @@
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../timemanager/Clock.h"
const uint32_t MutexIF::NO_TIMEOUT = 0;
uint8_t Mutex::count = 0;
@ -25,7 +24,9 @@ Mutex::Mutex() {
sif::error << "Mutex: creation with name, id " << mutex.__data.__count
<< ", " << " failed with " << strerror(status) << std::endl;
}
//After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes.
// After a mutex attributes object has been used to initialize one or more
// mutexes, any function affecting the attributes object
// (including destruction) shall not affect any previously initialized mutexes.
status = pthread_mutexattr_destroy(&mutexAttr);
if (status != 0) {
sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
@ -37,9 +38,13 @@ Mutex::~Mutex() {
pthread_mutex_destroy(&mutex);
}
ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
int status = 0;
if (timeoutMs != MutexIF::NO_TIMEOUT) {
if(timeoutType == TimeoutType::POLLING) {
status = pthread_mutex_trylock(&mutex);
}
else if (timeoutType == TimeoutType::WAITING) {
timespec timeOut;
clock_gettime(CLOCK_REALTIME, &timeOut);
uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
@ -47,27 +52,35 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
timeOut.tv_sec = nseconds / 1000000000;
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
status = pthread_mutex_timedlock(&mutex, &timeOut);
} else {
}
else if(timeoutType == TimeoutType::BLOCKING) {
status = pthread_mutex_lock(&mutex);
}
switch (status) {
case EINVAL:
//The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling.
// The mutex was created with the protocol attribute having the value
// PTHREAD_PRIO_PROTECT and the calling thread's priority is higher
// than the mutex's current priority ceiling.
return WRONG_ATTRIBUTE_SETTING;
//The process or thread would have blocked, and the abs_timeout parameter specified a nanoseconds field value less than zero or greater than or equal to 1000 million.
//The value specified by mutex does not refer to an initialized mutex object.
// The process or thread would have blocked, and the abs_timeout
// parameter specified a nanoseconds field value less than zero or
// greater than or equal to 1000 million.
// The value specified by mutex does not refer to an initialized mutex object.
//return MUTEX_NOT_FOUND;
case EBUSY:
//The mutex could not be acquired because it was already locked.
// The mutex could not be acquired because it was already locked.
return MUTEX_ALREADY_LOCKED;
case ETIMEDOUT:
//The mutex could not be locked before the specified timeout expired.
// The mutex could not be locked before the specified timeout expired.
return MUTEX_TIMEOUT;
case EAGAIN:
//The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded.
// The mutex could not be acquired because the maximum number of
// recursive locks for mutex has been exceeded.
return MUTEX_MAX_LOCKS;
case EDEADLK:
//A deadlock condition was detected or the current thread already owns the mutex.
// A deadlock condition was detected or the current thread
// already owns the mutex.
return CURR_THREAD_ALREADY_OWNS_MUTEX;
case 0:
//Success

7
osal/linux/Mutex.h
View File

@ -1,14 +1,15 @@
#ifndef OS_RTEMS_MUTEX_H_
#define OS_RTEMS_MUTEX_H_
#ifndef OS_LINUX_MUTEX_H_
#define OS_LINUX_MUTEX_H_
#include "../../ipc/MutexIF.h"
#include <pthread.h>
class Mutex : public MutexIF {
public:
Mutex();
virtual ~Mutex();
virtual ReturnValue_t lockMutex(uint32_t timeoutMs);
virtual ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs);
virtual ReturnValue_t unlockMutex();
private:
pthread_mutex_t mutex;

3
osal/linux/PeriodicPosixTask.cpp
View File

@ -21,8 +21,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
return NULL;
}
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
bool addTaskIF) {
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {

3
osal/linux/PeriodicPosixTask.h
View File

@ -39,8 +39,7 @@ public:
* @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object,
bool addTaskIF = true) override;
ReturnValue_t addComponent(object_id_t object) override;
uint32_t getPeriodMs() const override;

2
osal/rtems/MultiObjectTask.cpp
View File

@ -78,6 +78,8 @@ ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}

20
osal/rtems/MultiObjectTask.h
View File

@ -1,11 +1,5 @@
/**
* @file MultiObjectTask.h
* @brief This file defines the MultiObjectTask class.
* @date 30.01.2014
* @author baetz
*/
#ifndef MULTIOBJECTTASK_H_
#define MULTIOBJECTTASK_H_
#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h"
@ -21,7 +15,7 @@ class ExecutableObjectIF;
* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
* multiple objects that implement the ExecutableObjectIF interface. The objects must be
* added prior to starting the task.
*
* @author baetz
* @ingroup task_handling
*/
class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
@ -63,11 +57,11 @@ public:
* @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object);
ReturnValue_t addComponent(object_id_t object) override;
uint32_t getPeriodMs() const;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
/**
@ -110,4 +104,4 @@ protected:
void taskFunctionality(void);
};
#endif /* MULTIOBJECTTASK_H_ */
#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */

19
osal/rtems/Mutex.cpp
View File

@ -1,7 +1,6 @@
#include "Mutex.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT;
uint8_t Mutex::count = 0;
Mutex::Mutex() :
@ -24,8 +23,22 @@ Mutex::~Mutex() {
}
}
ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs);
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs) {
if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
rtems_status_code status = rtems_semaphore_obtain(mutexId,
RTEMS_WAIT, RTEMS_NO_TIMEOUT);
}
else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
timeoutMs = RTEMS_NO_TIMEOUT;
rtems_status_code status = rtems_semaphore_obtain(mutexId,
RTEMS_NO_WAIT, 0);
}
else {
rtems_status_code status = rtems_semaphore_obtain(mutexId,
RTEMS_WAIT, timeoutMs);
}
switch(status){
case RTEMS_SUCCESSFUL:
//semaphore obtained successfully

6
osal/rtems/Mutex.h
View File

@ -1,5 +1,5 @@
#ifndef OS_RTEMS_MUTEX_H_
#define OS_RTEMS_MUTEX_H_
#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
#include "../../ipc/MutexIF.h"
#include "RtemsBasic.h"
@ -8,7 +8,7 @@ class Mutex : public MutexIF {
public:
Mutex();
~Mutex();
ReturnValue_t lockMutex(uint32_t timeoutMs);
ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
ReturnValue_t unlockMutex();
private:
rtems_id mutexId;

8
storagemanager/PoolManager.tpp
View File

@ -17,7 +17,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
const uint32_t size, store_address_t* address, bool ignoreFault) {
MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
address,ignoreFault);
return status;
@ -29,7 +29,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
// debug << "PoolManager( " << translateObject(getObjectId()) <<
// " )::deleteData from store " << packet_id.pool_index <<
// ". id is "<< packet_id.packet_index << std::endl;
MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
return status;
}
@ -37,7 +37,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
size_t size, store_address_t* storeId) {
MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
size, storeId);
return status;
@ -46,7 +46,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
template<uint8_t NUMBER_OF_POOLS>
inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData(
store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::modifyData(packet_id,
packet_ptr, size);
return status;

3
tasks/PeriodicTaskIF.h
View File

@ -36,8 +36,7 @@ public:
* to the component.
* @return
*/
virtual ReturnValue_t addComponent(object_id_t object,
bool setTaskIF = true) {
virtual ReturnValue_t addComponent(object_id_t object) {
return HasReturnvaluesIF::RETURN_FAILED;
};