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Merge remote-tracking branch 'upstream/development' into mueller/possible-ring-buffer-fix

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Robin Müller 2022-06-21 10:49:03 +02:00
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63 changed files with 710 additions and 828 deletions
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8
.gitignore vendored
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@ -1,6 +1,14 @@
# PyCharm and CLion
/.idea/*
!/.idea/runConfigurations
!/.idea/cmake.xml
!/.idea/codeStyles
# Eclipse
.cproject
.project
.settings
.metadata
/build*
/cmake-build*

14
.idea/codeStyles/Project.xml Normal file
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@ -0,0 +1,14 @@
<component name="ProjectCodeStyleConfiguration">
<code_scheme name="Project" version="173">
<clangFormatSettings>
<option name="ENABLED" value="true" />
</clangFormatSettings>
<codeStyleSettings language="CMake">
<indentOptions>
<option name="INDENT_SIZE" value="2" />
<option name="CONTINUATION_INDENT_SIZE" value="0" />
<option name="TAB_SIZE" value="2" />
</indentOptions>
</codeStyleSettings>
</code_scheme>
</component>

5
.idea/codeStyles/codeStyleConfig.xml Normal file
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@ -0,0 +1,5 @@
<component name="ProjectCodeStyleConfiguration">
<state>
<option name="USE_PER_PROJECT_SETTINGS" value="true" />
</state>
</component>

7
.run/fsfw-tests_coverage.run.xml Normal file
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@ -0,0 +1,7 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="fsfw-tests_coverage" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw-tests_coverage" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
<method v="2">
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
</method>
</configuration>
</component>

7
.run/fsfw.run.xml Normal file
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@ -0,0 +1,7 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="fsfw" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="fsfw-tests" TARGET_NAME="fsfw" CONFIG_NAME="Debug Unittest" RUN_TARGET_PROJECT_NAME="fsfw-tests" RUN_TARGET_NAME="fsfw-tests">
<method v="2">
<option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
</method>
</configuration>
</component>

41
CHANGELOG.md
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@ -12,6 +12,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes
- Renamed auto-formatting script to `auto-formatter.sh` and made it more robust.
If `cmake-format` is installed, it will also auto-format the `CMakeLists.txt` files now.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/626
- Bump C++ required version to C++17. Every project which uses the FSFW and every modern
compiler supports it
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
@ -46,6 +50,38 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
### Task Module Refactoring
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
**Refactoring general task code**
- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
**Refactor PeriodicTaskIF**
- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
`virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
the operation code passed to `performOperation`. Updated API taking
an `ExecutableObjectIF` accordingly
**Refactor FixedTimeslotTaskIF**
- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
**Refactor FixedSequenceSlot**
- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
`ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
for the custom checker
**Linux Task Module**
- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
member of the class
### HAL
- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
@ -87,6 +123,11 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
## Additions
- Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
whether it is running in CI/CD
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
- Basic `clion` support: Update `.gitignore` and add some basic run configurations
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/625
- LTO support: Allow using LTO/IPO by setting `FSFW_ENABLE_LTO=1`. CMake is able to detect whether
the user compiler supports IPO/LPO. LTO is on by default now. Most modern compilers support it,
can make good use of it and it usually makes the code faster and/or smaller.

3
CMakeLists.txt
View File

@ -71,7 +71,7 @@ set(FSFW_ETL_LIB_MAJOR_VERSION
20
CACHE STRING "ETL library major version requirement")
set(FSFW_ETL_LIB_VERSION
${FSFW_ETL_LIB_MAJOR_VERSION}.27.3
${FSFW_ETL_LIB_MAJOR_VERSION}.28.0
CACHE STRING "ETL library exact version requirement")
set(FSFW_ETL_LINK_TARGET etl::etl)
@ -105,6 +105,7 @@ endif()
option(FSFW_BUILD_UNITTESTS
"Build unittest binary in addition to static library" OFF)
option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
if(FSFW_BUILD_UNITTESTS)
option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)

4
README.md
View File

@ -99,7 +99,7 @@ add and link against the FSFW library in general.
4. Link against the FSFW library
```cmake
```sh
target_link_libraries(${YourProjectName} PRIVATE fsfw)
```
@ -131,7 +131,7 @@ default. This can be disabled by setting the `FSFW_TESTS_COV_GEN` option to `OFF
You can use the following commands inside the `fsfw` folder to set up the build system
```sh
mkdir build-Unittest && cd build-Unittest
mkdir build-tests && cd build-tests
cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
```

2
automation/Jenkinsfile vendored
View File

@ -14,7 +14,7 @@ pipeline {
stage('Configure') {
steps {
dir(BUILDDIR) {
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..'
sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
}
}
}

2
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -210,7 +210,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
#endif
return result;
}
ReturnValue_t result = gpioComIF->pullLow(gpioId);
result = gpioComIF->pullLow(gpioId);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1

4
hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
View File

@ -10,6 +10,10 @@
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
#endif
enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
class GyroL3GD20H {

4
src/fsfw/datapoollocal/LocalDataPoolManager.cpp
View File

@ -696,9 +696,9 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
if (result != HasReturnvaluesIF::RETURN_OK) {
/* Configuration error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." << std::endl;
sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
#else
sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n");
sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
#endif
}
}

65
src/fsfw/osal/freertos/FixedTimeslotTask.cpp
View File

@ -1,27 +1,23 @@
#include "fsfw/osal/freertos/FixedTimeslotTask.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface.h"
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)())
: started(false), handle(nullptr), pst(overallPeriod * 1000) {
TaskStackSize setStack, TaskPeriod period,
TaskDeadlineMissedFunction dlmFunc_)
: FixedTimeslotTaskBase(period, dlmFunc_), started(false), handle(nullptr) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
FixedTimeslotTask::~FixedTimeslotTask() {}
FixedTimeslotTask::~FixedTimeslotTask() = default;
void FixedTimeslotTask::taskEntryPoint(void* argument) {
// The argument is re-interpreted as FixedTimeslotTask. The Task object is
// global, so it is found from any place.
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
@ -32,26 +28,18 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
vTaskSuspend(nullptr);
}
originalTask->taskFunctionality();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
<< std::endl;
#else
sif::printDebug("Polling task returned from taskFunctionality\n");
#endif
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
<< std::endl;
#endif
}
}
ReturnValue_t FixedTimeslotTask::startTask() {
started = true;
@ -63,31 +51,12 @@ ReturnValue_t FixedTimeslotTask::startTask() {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (handler != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry.
auto slotListIter = pst.current;
auto slotListIter = pollingSeqTable.current;
pst.intializeSequenceAfterTaskCreation();
pollingSeqTable.intializeSequenceAfterTaskCreation();
// The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs;
@ -108,10 +77,10 @@ void FixedTimeslotTask::taskFunctionality() {
/* Enter the loop that defines the task behavior. */
for (;;) {
// The component for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
if (not pst.slotFollowsImmediately()) {
this->pollingSeqTable.executeAndAdvance();
if (not pollingSeqTable.slotFollowsImmediately()) {
// Get the interval till execution of the next slot.
intervalMs = this->pst.getIntervalToPreviousSlotMs();
intervalMs = this->pollingSeqTable.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@ -132,8 +101,8 @@ void FixedTimeslotTask::taskFunctionality() {
}
void FixedTimeslotTask::handleMissedDeadline() {
if (deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}

42
src/fsfw/osal/freertos/FixedTimeslotTask.h
View File

@ -4,11 +4,11 @@
#include "FreeRTOS.h"
#include "FreeRTOSTaskIF.h"
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
#include "fsfw/tasks/definitions.h"
#include "task.h"
class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
class FixedTimeslotTask : public FixedTimeslotTaskBase, public FreeRTOSTaskIF {
public:
/**
* Keep in mind that you need to call before vTaskStartScheduler()!
@ -23,7 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
* @return Pointer to the newly created task.
*/
FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)());
TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
/**
* @brief The destructor of the class.
@ -32,26 +32,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
* initialization for the PST and the device handlers. This is done by
* calling the PST's destructor.
*/
virtual ~FixedTimeslotTask(void);
~FixedTimeslotTask() override;
ReturnValue_t startTask(void);
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines
* every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
uint32_t getPeriodMs() const override;
ReturnValue_t checkSequence() const override;
ReturnValue_t startTask() override;
ReturnValue_t sleepFor(uint32_t ms) override;
@ -61,17 +44,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
bool started;
TaskHandle_t handle;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when
* a deadline was missed.
* @details
* Another function may be announced to determine the actions to perform
* when a deadline was missed. Currently, only one function for missing
* any deadline is allowed. If not used, it shall be declared NULL.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the entry point for a new task.
* @details
@ -88,7 +60,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
void handleMissedDeadline();
};

4
src/fsfw/osal/freertos/FreeRTOSTaskIF.h
View File

@ -6,11 +6,11 @@
class FreeRTOSTaskIF {
public:
virtual ~FreeRTOSTaskIF() {}
virtual ~FreeRTOSTaskIF() = default;
virtual TaskHandle_t getTaskHandle() = 0;
protected:
bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
static bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand
* it. */

53
src/fsfw/osal/freertos/PeriodicTask.cpp
View File

@ -5,27 +5,28 @@
#include "fsfw/tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod setPeriod, TaskDeadlineMissedFunction deadlineMissedFunc)
: started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(deadlineMissedFunc) {
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(setPeriod, dlmFunc_), started(false), handle(nullptr) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
if (status != pdPASS) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
"Status: "
sif::debug << "PeriodicTask::PeriodicTask Insufficient heap memory remaining. Status: "
<< status << std::endl;
#else
sif::printDebug("PeriodicTask::PeriodicTask: Insufficient heap memory remaining. Status: %d\n",
status);
#endif
}
}
PeriodicTask::~PeriodicTask(void) {
// Do not delete objects, we were responsible for ptrs only.
}
PeriodicTask::~PeriodicTask() = default;
void PeriodicTask::taskEntryPoint(void* argument) {
// The argument is re-interpreted as PeriodicTask. The Task object is
// global, so it is found from any place.
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
@ -36,7 +37,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
vTaskSuspend(nullptr);
}
originalTask->taskFunctionality();
@ -62,13 +63,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
return HasReturnvaluesIF::RETURN_OK;
}
void PeriodicTask::taskFunctionality() {
[[noreturn]] void PeriodicTask::taskFunctionality() {
TickType_t xLastWakeTime;
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
for (auto const& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
/* The xLastWakeTime variable needs to be initialized with the current tick
count. Note that this is the only time the variable is written to
@ -77,8 +76,8 @@ void PeriodicTask::taskFunctionality() {
xLastWakeTime = xTaskGetTickCount();
/* Enter the loop that defines the task behavior. */
for (;;) {
for (auto const& object : objectList) {
object->performOperation();
for (auto const& objectPair : objectList) {
objectPair.first->performOperation(objectPair.second);
}
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
@ -95,32 +94,10 @@ void PeriodicTask::taskFunctionality() {
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
}
ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
"it implement ExecutableObjectIF"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
void PeriodicTask::handleMissedDeadline() {
if (deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}

53
src/fsfw/osal/freertos/PeriodicTask.h
View File

@ -6,8 +6,8 @@
#include "FreeRTOS.h"
#include "FreeRTOSTaskIF.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/Typedef.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/definitions.h"
#include "task.h"
class ExecutableObjectIF;
@ -17,7 +17,7 @@ class ExecutableObjectIF;
* periodic activities of multiple objects.
* @ingroup task_handling
*/
class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
class PeriodicTask : public PeriodicTaskBase, public FreeRTOSTaskIF {
public:
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
@ -43,7 +43,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
~PeriodicTask() override;
/**
* @brief The method to start the task.
@ -53,27 +53,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* to the system call.
*/
ReturnValue_t startTask() override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object) override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
@ -83,28 +62,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
bool started;
TaskHandle_t handle;
//! Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief The period of the task.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed so each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details
@ -125,7 +82,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
* the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
void handleMissedDeadline();
};

46
src/fsfw/osal/host/FixedTimeslotTask.cpp
View File

@ -3,9 +3,7 @@
#include <chrono>
#include <thread>
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/osal/host/FixedTimeslotTask.h"
#include "fsfw/osal/host/Mutex.h"
#include "fsfw/osal/host/taskHelpers.h"
#include "fsfw/platform.h"
@ -22,12 +20,8 @@
FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)())
: started(false),
pollingSeqTable(setPeriod * 1000),
taskName(name),
period(setPeriod),
deadlineMissedFunc(setDeadlineMissedFunc) {
TaskDeadlineMissedFunction dlmFunc_)
: FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
// It is propably possible to set task priorities by using the native
// task handles for Windows / Linux
mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
@ -39,7 +33,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
tasks::insertTaskName(mainThread.get_id(), taskName);
}
FixedTimeslotTask::~FixedTimeslotTask(void) {
FixedTimeslotTask::~FixedTimeslotTask() {
// Do not delete objects, we were responsible for ptrs only.
terminateThread = true;
if (mainThread.joinable()) {
@ -48,7 +42,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
}
void FixedTimeslotTask::taskEntryPoint(void* argument) {
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
if (not originalTask->started) {
// we have to suspend/block here until the task is started.
@ -81,7 +75,9 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
}
void FixedTimeslotTask::taskFunctionality() {
pollingSeqTable.intializeSequenceAfterTaskCreation();
ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
// Ignore returnvalue for now
static_cast<void>(result);
// A local iterator for the Polling Sequence Table is created to
// find the start time for the first entry.
@ -106,37 +102,15 @@ void FixedTimeslotTask::taskFunctionality() {
// we need to wait before executing the current slot
// this gives us the time to wait:
interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
delayForInterval(&currentStartTime, interval);
// TODO deadline missed check
if (not delayForInterval(&currentStartTime, interval)) {
if (dlmFunc != nullptr) {
dlmFunc();
}
}
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
ExecutableObjectIF* executableObject =
ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (executableObject != nullptr) {
pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << "0x" << componentId
<< "not found, "
"not adding it to PST.."
<< std::dec << std::endl;
#else
sif::printError("Component 0x%08x not found, not adding it to PST..\n",
static_cast<unsigned int>(componentId));
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); }
uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; }
bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
bool shouldDelay = false;
// Get current wakeup time

56
src/fsfw/osal/host/FixedTimeslotTask.h
View File

@ -6,10 +6,10 @@
#include <thread>
#include <vector>
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/Typedef.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
#include "fsfw/tasks/definitions.h"
class ExecutableObjectIF;
@ -19,7 +19,7 @@ class ExecutableObjectIF;
* @details
* @ingroup task_handling
*/
class FixedTimeslotTask : public FixedTimeslotTaskIF {
class FixedTimeslotTask : public FixedTimeslotTaskBase {
public:
/**
* @brief Standard constructor of the class.
@ -39,7 +39,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~FixedTimeslotTask(void);
~FixedTimeslotTask() override;
/**
* @brief The method to start the task.
@ -48,56 +48,22 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask(void);
ReturnValue_t startTask() override;
/**
* Add timeslot to the polling sequence table.
* @param componentId
* @param slotTimeMs
* @param executionStep
* @return
*/
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
ReturnValue_t checkSequence() const override;
uint32_t getPeriodMs() const;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
using chron_ms = std::chrono::milliseconds;
bool started;
//!< Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
std::thread mainThread;
std::atomic<bool> terminateThread{false};
//! Polling sequence table which contains the object to execute
//! and information like the timeslots and the passed execution step.
FixedSlotSequence pollingSeqTable;
std::condition_variable initCondition;
std::mutex initMutex;
std::string taskName;
/**
* @brief The period of the task.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed. So, each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details
@ -117,9 +83,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
* the checkAndRestartPeriod system call blocks the task until the next
* period. On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
void taskFunctionality();
bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
};
#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */

41
src/fsfw/osal/host/PeriodicTask.cpp
View File

@ -3,13 +3,10 @@
#include <chrono>
#include <thread>
#include "fsfw/ipc/MutexFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/osal/host/Mutex.h"
#include "fsfw/osal/host/taskHelpers.h"
#include "fsfw/platform.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#if defined(PLATFORM_WIN)
#include <processthreadsapi.h>
@ -20,8 +17,8 @@
#endif
PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod setPeriod, void (*setDeadlineMissedFunc)())
: started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
// It is probably possible to set task priorities by using the native
// task handles for Windows / Linux
mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
@ -33,7 +30,7 @@ PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStack
tasks::insertTaskName(mainThread.get_id(), taskName);
}
PeriodicTask::~PeriodicTask(void) {
PeriodicTask::~PeriodicTask() {
// Do not delete objects, we were responsible for ptrs only.
terminateThread = true;
if (mainThread.joinable()) {
@ -42,7 +39,7 @@ PeriodicTask::~PeriodicTask(void) {
}
void PeriodicTask::taskEntryPoint(void* argument) {
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
if (not originalTask->started) {
// we have to suspend/block here until the task is started.
@ -75,47 +72,27 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
}
void PeriodicTask::taskFunctionality() {
for (const auto& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch())};
auto nextStartTime{currentStartTime};
/* Enter the loop that defines the task behavior. */
for (;;) {
if (terminateThread.load()) {
break;
}
for (const auto& object : objectList) {
object->performOperation();
for (const auto& objectPair : objectList) {
objectPair.first->performOperation(objectPair.second);
}
if (not delayForInterval(&currentStartTime, periodChrono)) {
if (deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
this->dlmFunc();
}
}
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
}
ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
object->setTaskIF(this);
objectList.push_back(object);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
bool shouldDelay = false;
// Get current wakeup time

67
src/fsfw/osal/host/PeriodicTask.h
View File

@ -6,9 +6,9 @@
#include <thread>
#include <vector>
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "../../tasks/Typedef.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/definitions.h"
class ExecutableObjectIF;
@ -19,7 +19,7 @@ class ExecutableObjectIF;
*
* @ingroup task_handling
*/
class PeriodicTask : public PeriodicTaskIF {
class PeriodicTask : public PeriodicTaskBase {
public:
/**
* @brief Standard constructor of the class.
@ -34,12 +34,12 @@ class PeriodicTask : public PeriodicTaskIF {
* assigned.
*/
PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
TaskPeriod setPeriod, void (*setDeadlineMissedFunc)());
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
/**
* @brief Currently, the executed object's lifetime is not coupled with
* the task object's lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
~PeriodicTask() override;
/**
* @brief The method to start the task.
@ -48,63 +48,20 @@ class PeriodicTask : public PeriodicTaskIF {
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask(void);
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object Id of the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(object_id_t object);
ReturnValue_t startTask() override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return
* -@c RETURN_OK on success
* -@c RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object);
uint32_t getPeriodMs() const;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
using chron_ms = std::chrono::milliseconds;
bool started;
//!< Typedef for the List of objects.
typedef std::vector<ExecutableObjectIF*> ObjectList;
std::thread mainThread;
std::atomic<bool> terminateThread{false};
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
std::condition_variable initCondition;
std::mutex initMutex;
std::string taskName;
/**
* @brief The period of the task.
* @details
* The period determines the frequency of the task's execution.
* It is expressed in clock ticks.
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed. So, each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details
@ -124,9 +81,9 @@ class PeriodicTask : public PeriodicTaskIF {
* the checkAndRestartPeriod system call blocks the task until the next
* period. On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
void taskFunctionality();
bool delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval);
static bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
};
#endif /* PERIODICTASK_H_ */
#endif /* FRAMEWORK_OSAL_HOST_PERIODICTASK_H_ */

4
src/fsfw/osal/host/TaskFactory.cpp
View File

@ -14,9 +14,9 @@ TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
// Not used for the host implementation for now because C++ thread abstraction is used
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
TaskFactory::TaskFactory() {}
TaskFactory::TaskFactory() = default;
TaskFactory::~TaskFactory() {}
TaskFactory::~TaskFactory() = default;
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }

2
src/fsfw/osal/host/taskHelpers.cpp
View File

@ -6,7 +6,7 @@
std::mutex nameMapLock;
std::map<std::thread::id, std::string> taskNameMap;
ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
ReturnValue_t tasks::insertTaskName(std::thread::id threadId, const std::string& taskName) {
std::lock_guard<std::mutex> lg(nameMapLock);
auto returnPair = taskNameMap.emplace(threadId, taskName);
if (not returnPair.second) {

2
src/fsfw/osal/host/taskHelpers.h
View File

@ -7,7 +7,7 @@
namespace tasks {
ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
ReturnValue_t insertTaskName(std::thread::id threadId, const std::string& taskName);
std::string getTaskName(std::thread::id threadId);
} // namespace tasks

71
src/fsfw/osal/linux/FixedTimeslotTask.cpp
View File

@ -1,22 +1,20 @@
#include "fsfw/osal/linux/FixedTimeslotTask.h"
#include <limits.h>
#include <climits>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
uint32_t periodMs_)
: PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
FixedTimeslotTask::~FixedTimeslotTask() {}
FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
: FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
posixThread(name_, priority_, stackSize_),
started(false) {}
void* FixedTimeslotTask::taskEntryPoint(void* arg) {
// The argument is re-interpreted as PollingTask.
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
// The task's functionality is called.
originalTask->taskFunctionality();
return nullptr;
@ -24,7 +22,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
ReturnValue_t FixedTimeslotTask::startTask() {
started = true;
createTask(&taskEntryPoint, this);
posixThread.createTask(&taskEntryPoint, this);
return HasReturnvaluesIF::RETURN_OK;
}
@ -32,63 +30,36 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
return PosixThread::sleep((uint64_t)ms * 1000000);
}
uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
ExecutableObjectIF* executableObject =
ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (executableObject != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
<< std::dec << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
// Like FreeRTOS pthreads are running as soon as they are created
if (!started) {
suspend();
posixThread.suspend();
}
pst.intializeSequenceAfterTaskCreation();
// Returnvalue ignored for now
static_cast<void>(pollingSeqTable.intializeSequenceAfterTaskCreation());
// The start time for the first entry is read.
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
uint64_t interval = pst.getIntervalToNextSlotMs();
uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
uint32_t interval = 0;
// The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
while (true) {
if (pollingSeqTable.slotFollowsImmediately()) {
// Do nothing
} else {
// The interval for the next polling slot is selected.
interval = this->pst.getIntervalToPreviousSlotMs();
interval = pollingSeqTable.getIntervalToPreviousSlotMs();
// The period is checked and restarted with the new interval.
// If the deadline was missed, the deadlineMissedFunc is called.
if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
// No time left on timer -> we missed the deadline
missedDeadlineCounter();
if(dlmFunc != nullptr){
dlmFunc();
}
}
}
// The device handler for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
}
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
<< std::endl;
#endif
pollingSeqTable.executeAndAdvance();
}
}

41
src/fsfw/osal/linux/FixedTimeslotTask.h
View File

@ -3,11 +3,12 @@
#include <pthread.h>
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "PosixThread.h"
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
#include "fsfw/tasks/definitions.h"
class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
class FixedTimeslotTask : public FixedTimeslotTaskBase {
public:
/**
* Create a generic periodic task.
@ -21,29 +22,13 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
* @param period_
* @param deadlineMissedFunc_
*/
FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
virtual ~FixedTimeslotTask();
FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
~FixedTimeslotTask() override = default;
virtual ReturnValue_t startTask();
ReturnValue_t startTask() override;
virtual ReturnValue_t sleepFor(uint32_t ms);
virtual uint32_t getPeriodMs() const;
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
virtual ReturnValue_t checkSequence() const;
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
/**
@ -53,9 +38,12 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
virtual void taskFunctionality();
[[noreturn]] virtual void taskFunctionality();
private:
PosixThread posixThread;
bool started;
/**
* @brief This is the entry point in a new thread.
*
@ -68,9 +56,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
* arbitrary data.
*/
static void* taskEntryPoint(void* arg);
FixedSlotSequence pst;
bool started;
};
#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

80
src/fsfw/osal/linux/PeriodicPosixTask.cpp
View File

@ -1,86 +1,54 @@
#include "fsfw/osal/linux/PeriodicPosixTask.h"
#include "PeriodicPosixTask.h"
#include <errno.h>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
uint32_t period_, void(deadlineMissedFunc_)())
: PosixThread(name_, priority_, stackSize_),
objectList(),
started(false),
periodMs(period_),
deadlineMissedFunc(deadlineMissedFunc_) {}
PeriodicPosixTask::~PeriodicPosixTask() {
// Not Implemented
}
TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(period_, dlmFunc_),
posixThread(name_, priority_, stackSize_),
started(false) {}
void* PeriodicPosixTask::taskEntryPoint(void* arg) {
// The argument is re-interpreted as PollingTask.
PeriodicPosixTask* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
auto* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
// The task's functionality is called.
originalTask->taskFunctionality();
return NULL;
}
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
}
ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
<< " it implements ExecutableObjectIF!" << std::endl;
#else
sif::printError(
"PeriodicTask::addComponent: Invalid object. Make sure it "
"implements ExecutableObjectIF!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
return nullptr;
}
ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
return PosixThread::sleep((uint64_t)ms * 1000000);
return PosixThread::sleep(static_cast<uint64_t>(ms) * 1000000);
}
ReturnValue_t PeriodicPosixTask::startTask(void) {
ReturnValue_t PeriodicPosixTask::startTask() {
if (isEmpty()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
started = true;
PosixThread::createTask(&taskEntryPoint, this);
posixThread.createTask(&taskEntryPoint, this);
return HasReturnvaluesIF::RETURN_OK;
}
void PeriodicPosixTask::taskFunctionality(void) {
[[noreturn]] void PeriodicPosixTask::taskFunctionality() {
if (not started) {
suspend();
posixThread.suspend();
}
for (auto const& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
uint64_t periodMs = getPeriodMs();
// The task's "infinite" inner loop is entered.
while (1) {
for (auto const& object : objectList) {
object->performOperation();
while (true) {
for (auto const& objOpCodePair : objectList) {
objOpCodePair.first->performOperation(objOpCodePair.second);
}
if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}
}
}
uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }

52
src/fsfw/osal/linux/PeriodicPosixTask.h
View File

@ -3,12 +3,13 @@
#include <vector>
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "PosixThread.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
class PeriodicPosixTask : public PeriodicTaskBase {
public:
/**
* Create a generic periodic task.
@ -22,9 +23,9 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* @param period_
* @param deadlineMissedFunc_
*/
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
void (*deadlineMissedFunc_)());
virtual ~PeriodicPosixTask();
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
TaskDeadlineMissedFunction dlmFunc_);
~PeriodicPosixTask() override = default;
/**
* @brief The method to start the task.
@ -34,42 +35,17 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* to the system call.
*/
ReturnValue_t startTask() override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @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) override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
private:
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
PosixThread posixThread;
/**
* @brief Flag to indicate that the task was started and is allowed to run
*/
bool started;
/**
* @brief Period of the task in milliseconds
*/
uint32_t periodMs;
/**
* @brief The function containing the actual functionality of the task.
* @details The method sets and starts
@ -78,7 +54,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
* executed.
*/
virtual void taskFunctionality(void);
[[noreturn]] virtual void taskFunctionality();
/**
* @brief This is the entry point in a new thread.
*
@ -86,14 +62,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
* of the child class. Needs a valid pointer to the derived class.
*/
static void* taskEntryPoint(void* arg);
/**
* @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed.
* So, each may react individually on a timing failure. The pointer may be
* NULL, then nothing happens on missing the deadline. The deadline is equal to the next execution
* of the periodic task.
*/
void (*deadlineMissedFunc)();
};
#endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */

30
src/fsfw/osal/linux/PosixThread.h
View File

@ -35,6 +35,21 @@ class PosixThread {
*/
void resume();
/**
* @brief Function that has to be called by derived class because the
* derived class pointer has to be valid as argument.
* @details
* This function creates a pthread with the given parameters. As the
* function requires a pointer to the derived object it has to be called
* after the this pointer of the derived object is valid.
* Sets the taskEntryPoint as function to be called by new a thread.
* @param fnc_ Function which will be executed by the thread.
* @param arg_
* argument of the taskEntryPoint function, needs to be this pointer
* of derived class
*/
void createTask(void* (*fnc_)(void*), void* arg_);
/**
* Delay function similar to FreeRtos delayUntil function
*
@ -55,21 +70,6 @@ class PosixThread {
protected:
pthread_t thread;
/**
* @brief Function that has to be called by derived class because the
* derived class pointer has to be valid as argument.
* @details
* This function creates a pthread with the given parameters. As the
* function requires a pointer to the derived object it has to be called
* after the this pointer of the derived object is valid.
* Sets the taskEntryPoint as function to be called by new a thread.
* @param fnc_ Function which will be executed by the thread.
* @param arg_
* argument of the taskEntryPoint function, needs to be this pointer
* of derived class
*/
void createTask(void* (*fnc_)(void*), void* arg_);
private:
char name[PTHREAD_MAX_NAMELEN];
int priority;

7
src/fsfw/osal/linux/TaskFactory.cpp
View File

@ -8,21 +8,22 @@
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
TaskFactory::~TaskFactory() {}
TaskFactory::~TaskFactory() = default;
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
PeriodicTaskIF* TaskFactory::createPeriodicTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
deadLineMissedFunction_);
}
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000);
return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_,
deadLineMissedFunction_);
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

71
src/fsfw/osal/rtems/FixedTimeslotTask.cpp
View File

@ -1,42 +1,32 @@
#include "fsfw/osal/rtems/FixedTimeslotTask.h"
#include <rtems/bspIo.h>
#include <rtems/io.h>
#include <rtems/rtems/ratemon.h>
#include <rtems/rtems/status.h>
#include <rtems/rtems/tasks.h>
#include <rtems/rtems/types.h>
#include <sys/_stdint.h>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/osal/rtems/RtemsBasic.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/FixedSequenceSlot.h"
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iostream>
#endif
#include <cstddef>
#include <list>
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
size_t setStack, uint32_t setOverallPeriod,
void (*setDeadlineMissedFunc)(void))
: RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
size_t setStack, TaskPeriod setOverallPeriod,
TaskDeadlineMissedFunction dlmFunc_)
: FixedTimeslotTaskBase(setOverallPeriod, dlmFunc_),
RTEMSTaskBase(setPriority, setStack, name),
periodId(0) {}
FixedTimeslotTask::~FixedTimeslotTask() {}
FixedTimeslotTask::~FixedTimeslotTask() = default;
rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
/* The argument is re-interpreted as a FixedTimeslotTask */
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
auto *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
/* The task's functionality is called. */
return originalTask->taskFunctionality();
/* Should never be reached */
@ -46,16 +36,6 @@ rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
#endif
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
<< std::endl;
#endif
}
}
ReturnValue_t FixedTimeslotTask::startTask() {
rtems_status_code status =
rtems_task_start(id, FixedTimeslotTask::taskEntryPoint, rtems_task_argument((void *)this));
@ -79,54 +59,35 @@ ReturnValue_t FixedTimeslotTask::startTask() {
}
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) {
ExecutableObjectIF *object = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (object != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
return HasReturnvaluesIF::RETURN_OK;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
/* A local iterator for the Polling Sequence Table is created to find the start time for
the first entry. */
FixedSlotSequence::SlotListIter it = pst.current;
auto it = pollingSeqTable.current;
/* Initialize the PST with the correct calling task */
pst.intializeSequenceAfterTaskCreation();
pollingSeqTable.intializeSequenceAfterTaskCreation();
/* The start time for the first entry is read. */
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
RTEMSTaskBase::setAndStartPeriod(interval, &periodId);
// The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
while (true) {
if (pollingSeqTable.slotFollowsImmediately()) {
/* Do nothing */
} else {
/* The interval for the next polling slot is selected. */
interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
interval = RtemsBasic::convertMsToTicks(pollingSeqTable.getIntervalToNextSlotMs());
/* The period is checked and restarted with the new interval.
If the deadline was missed, the deadlineMissedFunc is called. */
rtems_status_code status = RTEMSTaskBase::restartPeriod(interval, periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}
}
/* The device handler for this slot is executed and the next one is chosen. */
this->pst.executeAndAdvance();
this->pollingSeqTable.executeAndAdvance();
}
}

41
src/fsfw/osal/rtems/FixedTimeslotTask.h
View File

@ -1,11 +1,11 @@
#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "RTEMSTaskBase.h"
#include "fsfw/tasks/FixedSlotSequence.h"
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
class FixedTimeslotTask : public FixedTimeslotTaskBase, public RTEMSTaskBase {
public:
/**
* @brief The standard constructor of the class.
@ -17,7 +17,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
* @param getPst The object id of the completely initialized polling sequence.
*/
FixedTimeslotTask(const char *name, rtems_task_priority setPriority, size_t setStackSize,
uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
/**
* @brief The destructor of the class.
@ -25,44 +25,17 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
* The destructor frees all heap memory that was allocated on thread initialization
* for the PST andthe device handlers. This is done by calling the PST's destructor.
*/
virtual ~FixedTimeslotTask(void);
~FixedTimeslotTask() override;
ReturnValue_t startTask(void);
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
uint32_t getPeriodMs() const;
ReturnValue_t checkSequence() const;
ReturnValue_t sleepFor(uint32_t ms);
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
/**
* @brief id of the associated OS period
*/
rtems_id periodId;
FixedSlotSequence pst;
/**
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
*
* @details
* Another function may be announced to determine the actions to perform when a deadline
* was missed. Currently, only one function for missing any deadline is allowed.
* If not used, it shall be declared NULL.
*/
void (*deadlineMissedFunc)(void) = nullptr;
/**
* @brief This is the entry point in a new polling thread.
* @details This method is the entry point in the new thread
@ -76,7 +49,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
* keep the timing of the periods.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
};
#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */

2
src/fsfw/osal/rtems/MessageQueue.cpp
View File

@ -65,7 +65,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueu
}
ReturnValue_t returnCode = convertReturnCode(result);
if (result == MessageQueueIF::EMPTY) {
if (returnCode == MessageQueueIF::EMPTY) {
return HasReturnvaluesIF::RETURN_FAILED;
}

13
src/fsfw/osal/rtems/MessageQueue.h
View File

@ -36,7 +36,7 @@ class MessageQueue : public MessageQueueBase {
* @param max_message_size With this parameter, the maximum message size can be adjusted.
* This should be left default.
*/
MessageQueue(size_t message_depth = 3,
explicit MessageQueue(size_t message_depth = 3,
size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE,
MqArgs* args = nullptr);
@ -48,18 +48,19 @@ class MessageQueue : public MessageQueueBase {
* @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system.
*/
virtual ~MessageQueue();
~MessageQueue() override;
// Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
ReturnValue_t flush(uint32_t* count) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
MessageQueueId_t sentFrom, bool ignoreFault) override;
private:
/**
* \brief This attribute stores a reference to the internal error reporter for reporting full
* queues. \details In the event of a full destination queue, the reporter will be notified. The
* @brief This attribute stores a reference to the internal error reporter for reporting full
* queues. @details In the event of a full destination queue, the reporter will be notified. The
* reference is set by lazy loading
*/
InternalErrorReporterIF* internalErrorReporter;

52
src/fsfw/osal/rtems/PeriodicTask.cpp
View File

@ -5,12 +5,12 @@
#include "fsfw/tasks/ExecutableObjectIF.h"
PeriodicTask::PeriodicTask(const char* name, rtems_task_priority setPriority, size_t setStack,
rtems_interval setPeriod, void (*setDeadlineMissedFunc)())
: RTEMSTaskBase(setPriority, setStack, name),
periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
deadlineMissedFunc(setDeadlineMissedFunc) {}
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(setPeriod, dlmFunc_),
RTEMSTaskBase(setPriority, setStack, name),
periodTicks(RtemsBasic::convertMsToTicks(static_cast<uint32_t>(setPeriod * 1000.0))) {}
PeriodicTask::~PeriodicTask(void) {
PeriodicTask::~PeriodicTask() {
/* Do not delete objects, we were responsible for pointers only. */
rtems_rate_monotonic_delete(periodId);
}
@ -18,7 +18,7 @@ PeriodicTask::~PeriodicTask(void) {
rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
so it is found from any place. */
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
return originalTask->taskFunctionality();
;
}
@ -28,8 +28,10 @@ ReturnValue_t PeriodicTask::startTask() {
rtems_task_start(id, PeriodicTask::taskEntryPoint, rtems_task_argument((void*)this));
if (status != RTEMS_SUCCESSFUL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec
<< " failed." << std::endl;
sif::error << "PeriodicTask::startTask for " << std::hex << this->getId() << std::dec
<< " failed" << std::endl;
#else
sif::printError("PeriodicTask::startTask for 0x%08x failed\n", getId());
#endif
}
switch (status) {
@ -47,38 +49,20 @@ ReturnValue_t PeriodicTask::startTask() {
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { return RTEMSTaskBase::sleepFor(ms); }
void PeriodicTask::taskFunctionality() {
[[noreturn]] void PeriodicTask::taskFunctionality() {
RTEMSTaskBase::setAndStartPeriod(periodTicks, &periodId);
for (const auto& object : objectList) {
object->initializeAfterTaskCreation();
}
initObjsAfterTaskCreation();
/* The task's "infinite" inner loop is entered. */
while (1) {
for (const auto& object : objectList) {
object->performOperation();
while (true) {
for (const auto& objectPair : objectList) {
objectPair.first->performOperation(objectPair.second);
}
rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks, periodId);
if (status == RTEMS_TIMEOUT) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
if (dlmFunc != nullptr) {
dlmFunc();
}
}
}
}
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject);
}
ReturnValue_t PeriodicTask::addComponent(ExecutableObjectIF* object) {
if (object == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(object);
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t PeriodicTask::getPeriodMs() const { return RtemsBasic::convertTicksToMs(periodTicks); }

46
src/fsfw/osal/rtems/PeriodicTask.h
View File

@ -3,9 +3,10 @@
#include <vector>
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "RTEMSTaskBase.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
class ExecutableObjectIF;
@ -18,7 +19,7 @@ class ExecutableObjectIF;
* @author baetz
* @ingroup task_handling
*/
class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
class PeriodicTask : public PeriodicTaskBase, public RTEMSTaskBase {
public:
/**
* @brief Standard constructor of the class.
@ -36,12 +37,12 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
* that shall be assigned.
*/
PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
/**
* @brief Currently, the executed object's lifetime is not coupled with the task object's
* lifetime, so the destructor is empty.
*/
virtual ~PeriodicTask(void);
~PeriodicTask() override;
/**
* @brief The method to start the task.
@ -50,33 +51,11 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
* The address of the task object is passed as an argument
* to the system call.
*/
ReturnValue_t startTask(void);
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @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) override;
/**
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
ReturnValue_t addComponent(ExecutableObjectIF *object) override;
uint32_t getPeriodMs() const override;
ReturnValue_t startTask() override;
ReturnValue_t sleepFor(uint32_t ms) override;
protected:
typedef std::vector<ExecutableObjectIF *> ObjectList; //!< Typedef for the List of objects.
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief The period of the task.
* @details The period determines the frequency of the task's execution. It is expressed in
@ -87,14 +66,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
* @brief id of the associated OS period
*/
rtems_id periodId = 0;
/**
* @brief The pointer to the deadline-missed function.
* @details This pointer stores the function that is executed if the task's deadline is missed.
* So, each may react individually on a timing failure. The pointer may be
* nullptr, then nothing happens on missing the deadline. The deadline is equal to the next
* execution of the periodic task.
*/
void (*deadlineMissedFunc)(void);
/**
* @brief This is the function executed in the new task's context.
* @details It converts the argument back to the thread object type and copies the class
@ -110,7 +82,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
* are called. Afterwards the checkAndRestartPeriod system call blocks the task until the next
* period. On missing the deadline, the deadlineMissedFunction is executed.
*/
void taskFunctionality(void);
[[noreturn]] void taskFunctionality();
};
#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */

4
src/fsfw/osal/rtems/QueueFactory.cpp
View File

@ -45,9 +45,9 @@ QueueFactory* QueueFactory::instance() {
return factoryInstance;
}
QueueFactory::QueueFactory() {}
QueueFactory::QueueFactory() = default;
QueueFactory::~QueueFactory() {}
QueueFactory::~QueueFactory() = default;
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
MqArgs* args) {

2
src/fsfw/osal/rtems/RTEMSTaskBase.cpp
View File

@ -32,7 +32,7 @@ RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size
RTEMSTaskBase::~RTEMSTaskBase() { rtems_task_delete(id); }
rtems_id RTEMSTaskBase::getId() { return this->id; }
rtems_id RTEMSTaskBase::getId() const { return this->id; }
ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));

4
src/fsfw/osal/rtems/RTEMSTaskBase.h
View File

@ -36,9 +36,9 @@ class RTEMSTaskBase {
/**
* @brief This method returns the task id of this class.
*/
rtems_id getId();
rtems_id getId() const;
ReturnValue_t sleepFor(uint32_t ms);
static ReturnValue_t sleepFor(uint32_t ms);
static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);

21
src/fsfw/osal/rtems/TaskFactory.cpp
View File

@ -1,7 +1,6 @@
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/osal/rtems/FixedTimeslotTask.h"
#include "fsfw/osal/rtems/InitTask.h"
#include "fsfw/osal/rtems/PeriodicTask.h"
#include "fsfw/osal/rtems/RtemsBasic.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
@ -9,29 +8,29 @@
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
TaskFactory::~TaskFactory() {}
TaskFactory::TaskFactory() = default;
TaskFactory::~TaskFactory() = default;
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
PeriodicTaskIF* TaskFactory::createPeriodicTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<PeriodicTaskIF*>(
new PeriodicTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_, stackSize_,
periodInSeconds_, deadLineMissedFunction_));
}
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
return static_cast<FixedTimeslotTaskIF*>(
new FixedTimeslotTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(
name_, taskPriority_, stackSize_, periodInSeconds_, deadLineMissedFunction_));
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
// TODO not implemented
// This should call the OS specific destructor
delete (dynamic_cast<PeriodicTask*>(task));
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -45,5 +44,3 @@ void TaskFactory::printMissedDeadline() {
/* TODO: Implement */
return;
}
TaskFactory::TaskFactory() {}

16
src/fsfw/pus/Service11TelecommandScheduling.tpp
View File

@ -615,23 +615,23 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleInvalidD
template <size_t MAX_NUM_TCS>
inline void Service11TelecommandScheduling<MAX_NUM_TCS>::debugPrintMultimapContent() const {
for ([[maybe_unused]] const auto &dit : telecommandMap) {
#if FSFW_DISABLE_PRINTOUT == 0
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content"
<< std::endl;
#else
sif::printDebug("Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
#endif
for (const auto &dit : telecommandMap) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "[" << dit.first << "]: Request ID: " << dit.second.requestId << " | "
<< "Store Address: " << dit.second.storeAddr.raw << std::endl;
#else
sif::printDebug(
"Service11TelecommandScheduling::debugPrintMultimapContent: Multimap Content\n");
for (auto dit = telecommandMap.begin(); dit != telecommandMap.end(); ++dit) {
sif::printDebug("[%d]: Request ID: %d | Store Address: %d\n", dit->first,
dit->second.requestId, dit->second.storeAddr);
}
#endif
sif::printDebug("[%d]: Request ID: %d | Store Address: %d\n", dit.first, dit.second.requestId,
dit.second.storeAddr);
#endif
}
#endif
}
template <size_t MAX_NUM_TCS>

2
src/fsfw/storagemanager/StorageAccessor.cpp
View File

@ -13,7 +13,7 @@ StorageAccessor::StorageAccessor(store_address_t storeId, StorageManagerIF* stor
StorageAccessor& StorageAccessor::operator=(StorageAccessor&& other) {
// Call the parent move assignment and also assign own member.
dataPointer = other.dataPointer;
StorageAccessor::operator=(std::move(other));
ConstStorageAccessor::operator=(std::move(other));
return *this;
}

5
src/fsfw/tasks/CMakeLists.txt
View File

@ -1,2 +1,3 @@
target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp
FixedSlotSequence.cpp)
target_sources(
${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
PeriodicTaskBase.cpp FixedTimeslotTaskBase.cpp)

17
src/fsfw/tasks/FixedSlotSequence.cpp
View File

@ -29,7 +29,7 @@ void FixedSlotSequence::executeAndAdvance() {
uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
uint32_t oldTime;
SlotListIter slotListIter = current;
auto slotListIter = current;
// Get the pollingTimeMs of the current slot object.
oldTime = slotListIter->pollingTimeMs;
// Advance to the next object.
@ -51,7 +51,7 @@ uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
uint32_t currentTime;
SlotListIter slotListIter = current;
auto slotListIter = current;
// Get the pollingTimeMs of the current slot object.
currentTime = slotListIter->pollingTimeMs;
@ -67,7 +67,7 @@ uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
bool FixedSlotSequence::slotFollowsImmediately() {
uint32_t currentTime = current->pollingTimeMs;
SlotListIter fixedSequenceIter = this->current;
auto fixedSequenceIter = this->current;
// Get the pollingTimeMs of the current slot object.
if (fixedSequenceIter == slotList.begin()) return false;
fixedSequenceIter--;
@ -96,8 +96,8 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
}
if (customCheckFunction != nullptr) {
ReturnValue_t result = customCheckFunction(slotList);
if (customChecker != nullptr) {
ReturnValue_t result = customChecker(slotList, customCheckArgs);
if (result != HasReturnvaluesIF::RETURN_OK) {
// Continue for now but print error output.
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -161,6 +161,9 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
return HasReturnvaluesIF::RETURN_OK;
}
void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) {
this->customCheckFunction = customCheckFunction;
void FixedSlotSequence::addCustomCheck(CustomCheckFunc customChecker_, void* checkerArgs_) {
customChecker = customChecker_;
customCheckArgs = checkerArgs_;
}
bool FixedSlotSequence::isEmpty() const { return slotList.empty(); }

17
src/fsfw/tasks/FixedSlotSequence.h
View File

@ -30,12 +30,12 @@ class FixedSlotSequence {
public:
using SlotList = std::multiset<FixedSequenceSlot>;
using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
using CustomCheckFunc = ReturnValue_t (*)(const SlotList&, void* args);
/**
* @brief The constructor of the FixedSlotSequence object.
* @param setLength The period length, expressed in ms.
*/
FixedSlotSequence(uint32_t setLengthMs);
explicit FixedSlotSequence(uint32_t setLengthMs);
/**
* @brief The destructor of the FixedSlotSequence object.
@ -106,7 +106,7 @@ class FixedSlotSequence {
/**
* @brief This method returns the length of this FixedSlotSequence instance.
*/
uint32_t getLengthMs() const;
[[nodiscard]] uint32_t getLengthMs() const;
/**
* @brief The method to execute the device handler entered in the current
@ -137,7 +137,7 @@ class FixedSlotSequence {
* @return
* - SLOT_LIST_EMPTY if the slot list is empty
*/
ReturnValue_t checkSequence() const;
[[nodiscard]] ReturnValue_t checkSequence() const;
/**
* @brief A custom check can be injected for the respective slot list.
@ -149,7 +149,7 @@ class FixedSlotSequence {
* @param customCheckFunction
*
*/
void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&));
void addCustomCheck(CustomCheckFunc func, void* userArgs);
/**
* @brief Perform any initialization steps required after the executing
@ -157,7 +157,9 @@ class FixedSlotSequence {
* executing task!
* @return
*/
ReturnValue_t intializeSequenceAfterTaskCreation() const;
[[nodiscard]] ReturnValue_t intializeSequenceAfterTaskCreation() const;
[[nodiscard]] bool isEmpty() const;
protected:
/**
@ -173,7 +175,8 @@ class FixedSlotSequence {
*/
SlotList slotList;
ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
CustomCheckFunc customChecker = nullptr;
void* customCheckArgs = nullptr;
uint32_t lengthMs;
};

27
src/fsfw/tasks/FixedTimeslotTaskBase.cpp Normal file
View File

@ -0,0 +1,27 @@
#include "FixedTimeslotTaskBase.h"
#include "fsfw/objectmanager/ObjectManager.h"
FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_,
TaskDeadlineMissedFunction dlmFunc_)
: period(period_), pollingSeqTable(getPeriodMs()), dlmFunc(dlmFunc_) {}
uint32_t FixedTimeslotTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
bool FixedTimeslotTaskBase::isEmpty() const { return pollingSeqTable.isEmpty(); }
ReturnValue_t FixedTimeslotTaskBase::checkSequence() { return pollingSeqTable.checkSequence(); }
ReturnValue_t FixedTimeslotTaskBase::addSlot(object_id_t execId, ExecutableObjectIF* execObj,
uint32_t slotTimeMs, int8_t executionStep) {
if (execObj == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << execObj
<< std::setfill(' ') << " not found, not adding it to PST" << std::dec << std::endl;
#else
sif::printError("Component 0x%08x not found, not adding it to PST\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
pollingSeqTable.addSlot(execId, slotTimeMs, executionStep, execObj, this);
return HasReturnvaluesIF::RETURN_OK;
}

44
src/fsfw/tasks/FixedTimeslotTaskBase.h Normal file
View File

@ -0,0 +1,44 @@
#ifndef FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
#define FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
#include "FixedSlotSequence.h"
#include "FixedTimeslotTaskIF.h"
#include "definitions.h"
class FixedTimeslotTaskBase : public FixedTimeslotTaskIF {
public:
explicit FixedTimeslotTaskBase(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc = nullptr);
~FixedTimeslotTaskBase() override = default;
;
protected:
/**
* @brief Period of task in floating point seconds
*/
TaskPeriod period;
//! Polling sequence table which contains the object to execute
//! and information like the timeslots and the passed execution step.
FixedSlotSequence pollingSeqTable;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed. So, each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
TaskDeadlineMissedFunction dlmFunc = nullptr;
ReturnValue_t checkSequence() override;
[[nodiscard]] uint32_t getPeriodMs() const override;
[[nodiscard]] bool isEmpty() const override;
ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
};
#endif // FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H

32
src/fsfw/tasks/FixedTimeslotTaskIF.h
View File

@ -2,6 +2,7 @@
#define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
#include "PeriodicTaskIF.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/FwClassIds.h"
@ -11,10 +12,23 @@
*/
class FixedTimeslotTaskIF : public PeriodicTaskIF {
public:
virtual ~FixedTimeslotTaskIF() {}
~FixedTimeslotTaskIF() override = default;
static constexpr ReturnValue_t SLOT_LIST_EMPTY =
HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0);
/**
* Add an object with a slot time and the execution step to the task.
* The execution step will be passed to the object (e.g. as an operation
* code in #performOperation)
* @param componentId
* @param slotTimeMs
* @param executionStep
* @return
*/
virtual ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* obj, uint32_t slotTimeMs,
int8_t executionStep) = 0;
/**
* Add an object with a slot time and the execution step to the task.
* The execution step will be passed to the object (e.g. as an operation
@ -25,12 +39,24 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
* @return
*/
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) = 0;
int8_t executionStep) {
auto* execObj = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
return addSlot(componentId, execObj, slotTimeMs, executionStep);
}
/**
* Check whether the sequence is valid and perform all other required
* initialization steps which are needed after task creation
*/
virtual ReturnValue_t checkSequence() const = 0;
virtual ReturnValue_t checkSequence() = 0;
ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override {
return HasReturnvaluesIF::RETURN_FAILED;
}
};
#endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */

71
src/fsfw/tasks/PeriodicTaskBase.cpp Normal file
View File

@ -0,0 +1,71 @@
#include "PeriodicTaskBase.h"
#include <set>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface.h"
PeriodicTaskBase::PeriodicTaskBase(TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
: period(period_), dlmFunc(dlmFunc_) {
// Hints at configuration error
if (PeriodicTaskBase::getPeriodMs() <= 1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Passed task period 0 or smaller than 1 ms" << std::endl;
#else
sif::printWarning("Passed task period 0 or smaller than 1ms\n");
#endif
}
}
uint32_t PeriodicTaskBase::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
bool PeriodicTaskBase::isEmpty() const { return objectList.empty(); }
ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object) { return addComponent(object, 0); }
ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object) {
return addComponent(object, 0);
}
ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
std::set<ExecutableObjectIF*> uniqueObjects;
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
uint32_t count = 0;
for (const auto& obj : objectList) {
// Ensure that each unique object is initialized once.
if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
ReturnValue_t result = obj.first->initializeAfterTaskCreation();
if (result != HasReturnvaluesIF::RETURN_OK) {
count++;
status = result;
}
uniqueObjects.emplace(obj.first);
}
}
if (count > 0) {
}
return status;
}
ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
auto* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject, opCode);
}
ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
if (object == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
<< " it implements ExecutableObjectIF!" << std::endl;
#else
sif::printError(
"PeriodicTask::addComponent: Invalid object. Make sure it "
"implements ExecutableObjectIF!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back({object, opCode});
object->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
}

54
src/fsfw/tasks/PeriodicTaskBase.h Normal file
View File

@ -0,0 +1,54 @@
#ifndef FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
#define FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_
#include <cstdint>
#include <vector>
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/definitions.h"
class ExecutableObjectIF;
class PeriodicTaskBase : public PeriodicTaskIF {
public:
explicit PeriodicTaskBase(TaskPeriod period,
TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override;
ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override;
ReturnValue_t addComponent(object_id_t object) override;
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
[[nodiscard]] uint32_t getPeriodMs() const override;
[[nodiscard]] bool isEmpty() const override;
ReturnValue_t initObjsAfterTaskCreation();
protected:
//! Typedef for the List of objects. Will contain the objects to execute and their respective
//! operation codes
using ObjectList = std::vector<std::pair<ExecutableObjectIF*, uint8_t>>;
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
/**
* @brief Period of task in floating point seconds
*/
TaskPeriod period;
/**
* @brief The pointer to the deadline-missed function.
* @details
* This pointer stores the function that is executed if the task's deadline
* is missed. So, each may react individually on a timing failure.
* The pointer may be NULL, then nothing happens on missing the deadline.
* The deadline is equal to the next execution of the periodic task.
*/
TaskDeadlineMissedFunction dlmFunc = nullptr;
};
#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */

40
src/fsfw/tasks/PeriodicTaskIF.h
View File

@ -3,9 +3,8 @@
#include <cstddef>
#include "../objectmanager/SystemObjectIF.h"
#include "../timemanager/Clock.h"
class ExecutableObjectIF;
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
/**
* New version of TaskIF
@ -18,7 +17,7 @@ class PeriodicTaskIF {
/**
* @brief A virtual destructor as it is mandatory for interfaces.
*/
virtual ~PeriodicTaskIF() {}
virtual ~PeriodicTaskIF() = default;
/**
* @brief With the startTask method, a created task can be started
* for the first time.
@ -26,28 +25,29 @@ class PeriodicTaskIF {
virtual ReturnValue_t startTask() = 0;
/**
* Add a component (object) to a periodic task.
* @param object
* Add an object to the task. The object needs to implement ExecutableObjectIF
* @return
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added. The object needs to implement
* ExecutableObjectIF
* @param object Id of the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
virtual ReturnValue_t addComponent(object_id_t object) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode) = 0;
virtual ReturnValue_t addComponent(object_id_t object) { return addComponent(object, 0); };
/**
* Add an object to a periodic task.
* @param object
* Add an object to the task.
* @return
* Adds an object to the list of objects to be executed.
* The objects are executed in the order added.
* @param object pointer to the object to add.
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
*/
virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
return HasReturnvaluesIF::RETURN_FAILED;
};
virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) = 0;
virtual ReturnValue_t addComponent(ExecutableObjectIF* object) { return addComponent(object, 0); }
virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
virtual uint32_t getPeriodMs() const = 0;
[[nodiscard]] virtual uint32_t getPeriodMs() const = 0;
[[nodiscard]] virtual bool isEmpty() const = 0;
};
#endif /* PERIODICTASKIF_H_ */
#endif /* FRAMEWORK_TASK_PERIODICTASKIF_H_ */

2
src/fsfw/tasks/TaskFactory.h
View File

@ -4,7 +4,7 @@
#include <cstdlib>
#include "FixedTimeslotTaskIF.h"
#include "Typedef.h"
#include "definitions.h"
/**
* Singleton Class that produces Tasks.

13
src/fsfw/tasks/Typedef.h
View File

@ -1,13 +0,0 @@
#ifndef FSFW_TASKS_TYPEDEF_H_
#define FSFW_TASKS_TYPEDEF_H_
#include <cstddef>
#include <cstdint>
typedef const char* TaskName;
typedef uint32_t TaskPriority;
typedef size_t TaskStackSize;
typedef double TaskPeriod;
typedef void (*TaskDeadlineMissedFunction)();
#endif /* FSFW_TASKS_TYPEDEF_H_ */

13
src/fsfw/tasks/definitions.h Normal file
View File

@ -0,0 +1,13 @@
#ifndef FSFW_TASKS_TYPEDEF_H_
#define FSFW_TASKS_TYPEDEF_H_
#include <cstddef>
#include <cstdint>
using TaskName = const char*;
using TaskPriority = int;
using TaskStackSize = size_t;
using TaskPeriod = double;
using TaskDeadlineMissedFunction = void (*)();
#endif /* FSFW_TASKS_TYPEDEF_H_ */

4
tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
View File

@ -13,14 +13,14 @@ TestDevice::TestDevice(object_id_t objectId, object_id_t comIF, CookieIF* cookie
dataset(this),
fullInfoPrintout(fullInfoPrintout) {}
TestDevice::~TestDevice() {}
TestDevice::~TestDevice() = default;
void TestDevice::performOperationHook() {
if (periodicPrintout) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
#else
sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
sif::printInfo("TestDevice%d::performOperationHook: Alive!\n", deviceIdx);
#endif
}

2
tests/src/fsfw_tests/integration/task/TestTask.cpp
View File

@ -12,7 +12,7 @@ TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(test
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
}
TestTask::~TestTask() {}
TestTask::~TestTask() = default;
ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;

6
tests/src/fsfw_tests/integration/task/TestTask.h
View File

@ -13,9 +13,9 @@
*/
class TestTask : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
TestTask(object_id_t objectId);
virtual ~TestTask();
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
explicit TestTask(object_id_t objectId);
~TestTask() override;
ReturnValue_t performOperation(uint8_t operationCode) override;
protected:
virtual ReturnValue_t performOneShotAction();

22
tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
View File

@ -2,7 +2,9 @@
#include <catch2/catch_test_macros.hpp>
#include <fstream>
#include <iostream>
#include "tests/TestsConfig.h"
#include "fsfw/container/DynamicFIFO.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/platform.h"
@ -61,6 +63,9 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
std::string cmpString = "Hello World\n";
CHECK(readString == cmpString);
outputBuffer.deleteData(12, true);
// Issues with CI/CD
#if FSFW_CICD_BUILD == 0
// Test more complex command
result = cmdExecutor.load("ping -c 1 localhost", false, false);
REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::COMMAND_LOADED);
@ -81,16 +86,27 @@ TEST_CASE("Command Executor", "[cmd-exec]") {
REQUIRE(cmdExecutor.getCurrentState() == CommandExecutor::States::IDLE);
readBytes = 0;
sizesFifo.retrieve(&readBytes);
// That's about the size of the reply
bool beTrue = (readBytes > 200) and (readBytes < 400);
REQUIRE(beTrue);
uint8_t largerReadBuffer[1024] = {};
// That's about the size of the reply
bool beTrue = (readBytes > 100) and (readBytes < 400);
if (not beTrue) {
size_t readLen = outputBuffer.getAvailableReadData();
if (readLen > sizeof(largerReadBuffer) - 1) {
readLen = sizeof(largerReadBuffer) - 1;
}
outputBuffer.readData(largerReadBuffer, readLen);
std::string readString(reinterpret_cast<char*>(largerReadBuffer));
std::cerr << "Catch2 tag cmd-exec: Read " << readBytes << ": " << std::endl;
std::cerr << readString << std::endl;
}
REQUIRE(beTrue);
outputBuffer.readData(largerReadBuffer, readBytes);
// You can also check this output in the debugger
std::string allTheReply(reinterpret_cast<char*>(largerReadBuffer));
// I am just going to assume that this string is the same across ping implementations
// of different Linux systems
REQUIRE(allTheReply.find("PING localhost") != std::string::npos);
#endif
// Now check failing command
result = cmdExecutor.load("false", false, false);

4
tests/src/fsfw_tests/unit/internalerror/TestInternalErrorReporter.cpp
View File

@ -16,7 +16,7 @@
#include "fsfw_tests/unit/mocks/PeriodicTaskIFMock.h"
TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
PeriodicTaskMock task(10);
PeriodicTaskMock task(10, nullptr);
ObjectManagerIF* manager = ObjectManager::instance();
if (manager == nullptr) {
FAIL();
@ -27,6 +27,8 @@ TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
FAIL();
}
task.addComponent(objects::INTERNAL_ERROR_REPORTER);
// This calls the initializeAfterTaskCreation function
task.startTask();
MessageQueueIF* testQueue = QueueFactory::instance()->createMessageQueue(1);
MessageQueueIF* hkQueue = QueueFactory::instance()->createMessageQueue(1);
internalErrorReporter->getSubscriptionInterface()->subscribeForSetUpdateMessage(

26
tests/src/fsfw_tests/unit/mocks/PeriodicTaskIFMock.h
View File

@ -2,36 +2,24 @@
#define FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/PeriodicTaskBase.h>
class PeriodicTaskMock : public PeriodicTaskIF {
class PeriodicTaskMock : public PeriodicTaskBase {
public:
PeriodicTaskMock(uint32_t period = 5) : period(period) {}
/**
* @brief A virtual destructor as it is mandatory for interfaces.
*/
PeriodicTaskMock(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc)
: PeriodicTaskBase(period, dlmFunc) {}
virtual ~PeriodicTaskMock() {}
/**
* @brief With the startTask method, a created task can be started
* for the first time.
*/
virtual ReturnValue_t startTask() override { return HasReturnvaluesIF::RETURN_OK; };
virtual ReturnValue_t addComponent(object_id_t object) override {
ExecutableObjectIF* executableObject =
ObjectManager::instance()->get<ExecutableObjectIF>(objects::INTERNAL_ERROR_REPORTER);
if (executableObject == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
executableObject->setTaskIF(this);
executableObject->initializeAfterTaskCreation();
virtual ReturnValue_t startTask() override {
initObjsAfterTaskCreation();
return HasReturnvaluesIF::RETURN_OK;
};
virtual ReturnValue_t sleepFor(uint32_t ms) override { return HasReturnvaluesIF::RETURN_OK; };
virtual uint32_t getPeriodMs() const override { return period; };
uint32_t period;
};
#endif // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_

27
tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp
View File

@ -156,4 +156,31 @@ TEST_CASE("New Accessor", "[NewAccessor]") {
CHECK(receptionArray[i] == 42);
}
}
SECTION("Operators"){
result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
REQUIRE(result == retval::CATCH_OK);
{
StorageAccessor accessor(testStoreId);
StorageAccessor accessor2(0);
accessor2 = std::move(accessor);
REQUIRE(accessor.data() == nullptr);
std::array<uint8_t, 6> data;
size_t size = 6;
result = accessor.write(data.data(), data.size());
REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
result = SimplePool.modifyData(testStoreId, accessor2);
REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
CHECK(accessor2.getId() == testStoreId);
CHECK(accessor2.size() == 10);
std::array<uint8_t, 10> newData;
// Expect data to be invalid so this must return RETURN_FAILED
result = accessor.getDataCopy(newData.data(),newData.size());
REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
// Expect data to be too small
result = accessor2.getDataCopy(data.data(),data.size());
REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
}
}
}

1
tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp
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@ -3,6 +3,7 @@
#include <catch2/catch_test_macros.hpp>
#include <cstring>
#include <array>
#include "fsfw_tests/unit/CatchDefinitions.h"

2
tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
View File

@ -1,6 +1,8 @@
#ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
#define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
#cmakedefine01 FSFW_CICD_BUILD
#define FSFW_ADD_DEFAULT_FACTORY_FUNCTIONS 1
#ifdef __cplusplus