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Merge remote-tracking branch 'upstream/mueller/task-if-refactoring' into mueller/task-if-refactoring-eive

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Robin Müller 2022-05-24 15:42:08 +02:00
commit 40cc557978
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22 changed files with 239 additions and 297 deletions
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32
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.
@ -80,7 +74,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
return HasReturnvaluesIF::RETURN_OK;
}
void FixedTimeslotTask::taskFunctionality() {
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
pollingSeqTable.intializeSequenceAfterTaskCreation();
// A local iterator for the Polling Sequence Table is created to
@ -106,16 +100,18 @@ 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);
auto* executableObject = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
if (executableObject != nullptr) {
pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
return HasReturnvaluesIF::RETURN_OK;
@ -133,10 +129,6 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t FixedTimeslotTask::checkSequence() { 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
@ -176,5 +168,3 @@ bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chr
(*previousWakeTimeMs) = currentStartTime;
return false;
}
bool FixedTimeslotTask::isEmpty() const { return pollingSeqTable.isEmpty(); }

52
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.
@ -48,7 +48,7 @@ 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.
@ -57,49 +57,23 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
* @param executionStep
* @return
*/
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
ReturnValue_t checkSequence() override;
uint32_t getPeriodMs() const;
ReturnValue_t sleepFor(uint32_t ms);
bool isEmpty() const override;
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
@ -119,9 +93,9 @@ 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);
[[noreturn]] 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.
@ -48,64 +48,21 @@ 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;
bool isEmpty() const 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
@ -125,9 +82,9 @@ 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

61
src/fsfw/osal/linux/FixedTimeslotTask.cpp
View File

@ -1,24 +1,21 @@
#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() {}
bool FixedTimeslotTask::isEmpty() const { return pst.isEmpty(); }
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;
@ -26,7 +23,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
ReturnValue_t FixedTimeslotTask::startTask() {
started = true;
createTask(&taskEntryPoint, this);
posixThread.createTask(&taskEntryPoint, this);
return HasReturnvaluesIF::RETURN_OK;
}
@ -34,45 +31,25 @@ 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() { 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();
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)) {
@ -81,7 +58,7 @@ void FixedTimeslotTask::taskFunctionality() {
}
}
// The device handler for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
pollingSeqTable.executeAndAdvance();
}
}
@ -89,8 +66,8 @@ void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines"
<< std::endl;
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
<< std::endl;
#endif
}
}

29
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.
@ -21,22 +22,14 @@ 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;
ReturnValue_t startTask() override;
ReturnValue_t sleepFor(uint32_t ms) override;
uint32_t getPeriodMs() const override;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
ReturnValue_t checkSequence() override;
bool isEmpty() const override;
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
@ -56,9 +49,12 @@ 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.
*
@ -71,9 +67,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
* arbitrary data.
*/
static void* taskEntryPoint(void* arg);
FixedSlotSequence pst;
bool started;
};
#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

39
src/fsfw/osal/linux/PeriodicPosixTask.cpp
View File

@ -1,60 +1,53 @@
#include "fsfw/osal/linux/PeriodicPosixTask.h"
#include "PeriodicPosixTask.h"
#include <set>
#include <cerrno>
#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_, TaskDeadlineMissedFunction dlMissedFunc_)
: PosixThread(name_, priority_, stackSize_),
PeriodicTaskBase(period_, dlMissedFunc_),
TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
: PeriodicTaskBase(period_, dlmFunc_),
posixThread(name_, priority_, stackSize_),
started(false) {}
PeriodicPosixTask::~PeriodicPosixTask() {
// Not Implemented
}
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 nullptr;
}
ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
return PosixThread::sleep(static_cast<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();
}
initObjsAfterTaskCreation();
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
uint64_t periodMs = getPeriodMs();
// The task's "infinite" inner loop is entered.
while (1) {
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();
}
}
}

17
src/fsfw/osal/linux/PeriodicPosixTask.h
View File

@ -1,17 +1,15 @@
#ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
#define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
#include "PosixThread.h"
#include <vector>
#include "PosixThread.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/PeriodicTaskBase.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
class PeriodicPosixTask : public PeriodicTaskBase {
public:
/**
* Create a generic periodic task.
@ -25,9 +23,9 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
* @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.
@ -41,6 +39,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
ReturnValue_t sleepFor(uint32_t ms) override;
private:
PosixThread posixThread;
/**
* @brief Flag to indicate that the task was started and is allowed to run
@ -55,7 +54,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskBase {
* 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.
*

30
src/fsfw/osal/linux/PosixThread.h
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@ -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
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@ -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) {

6
src/fsfw/tasks/CMakeLists.txt
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@ -1,3 +1,3 @@
target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp
FixedSlotSequence.cpp
PeriodicTaskBase.cpp)
target_sources(
${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
PeriodicTaskBase.cpp FixedTimeslotTaskBase.cpp)

2
src/fsfw/tasks/FixedSlotSequence.h
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@ -35,7 +35,7 @@ class FixedSlotSequence {
* @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.

29
src/fsfw/tasks/FixedTimeslotTaskBase.cpp Normal file
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@ -0,0 +1,29 @@
#include "FixedTimeslotTaskBase.h"
#include "fsfw/objectmanager/ObjectManager.h"
FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_,
TaskDeadlineMissedFunction dlmFunc_)
: pollingSeqTable(getPeriodMs()), period(period_), 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 componentId, uint32_t slotTimeMs,
int8_t executionStep) {
auto* 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 0x" << std::hex << std::setw(8) << std::setfill('0') << componentId
<< 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;
}

44
src/fsfw/tasks/FixedTimeslotTaskBase.h Normal file
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@ -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:
//! Polling sequence table which contains the object to execute
//! and information like the timeslots and the passed execution step.
FixedSlotSequence pollingSeqTable;
/**
* @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;
ReturnValue_t checkSequence() override;
[[nodiscard]] uint32_t getPeriodMs() const override;
[[nodiscard]] bool isEmpty() const override;
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep) override;
};
#endif // FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H

2
src/fsfw/tasks/FixedTimeslotTaskIF.h
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@ -11,7 +11,7 @@
*/
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);

26
src/fsfw/tasks/PeriodicTaskBase.cpp
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@ -1,18 +1,26 @@
#include <fsfw/objectmanager/ObjectManager.h>
#include "PeriodicTaskBase.h"
#include <set>
PeriodicTaskBase::PeriodicTaskBase(uint32_t periodMs_,
TaskDeadlineMissedFunction deadlineMissedFunc_)
: periodMs(periodMs_), deadlineMissedFunc(deadlineMissedFunc_) {}
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface.h"
uint32_t PeriodicTaskBase::getPeriodMs() const { return periodMs; }
bool PeriodicTaskBase::isEmpty() const {
return objectList.empty();
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::initObjsAfterTaskCreation() {
std::multiset<ExecutableObjectIF*> uniqueObjects;
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
@ -34,7 +42,7 @@ ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
}
ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
auto* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
return addComponent(newObject, opCode);
}

36
src/fsfw/tasks/PeriodicTaskBase.h
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@ -1,28 +1,29 @@
#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"
#include <vector>
#include <cstdint>
class ExecutableObjectIF;
class PeriodicTaskBase: public PeriodicTaskIF {
public:
PeriodicTaskBase(uint32_t periodMs, TaskDeadlineMissedFunction deadlineMissedFunc = nullptr);
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;
uint32_t getPeriodMs() const override;
[[nodiscard]] uint32_t getPeriodMs() const override;
bool isEmpty() const override;
[[nodiscard]] bool isEmpty() const override;
ReturnValue_t initObjsAfterTaskCreation();
protected:
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>>;
@ -32,20 +33,19 @@ protected:
ObjectList objectList;
/**
* @brief Period of the task in milliseconds
* @brief Period of task in floating point seconds
*/
uint32_t periodMs;
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.
* @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 deadlineMissedFunc = nullptr;
TaskDeadlineMissedFunction dlmFunc = nullptr;
};
#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */

6
src/fsfw/tasks/PeriodicTaskIF.h
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@ -1,11 +1,11 @@
#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
#define FRAMEWORK_TASK_PERIODICTASKIF_H_
#include <cstddef>
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include <cstddef>
/**
* New version of TaskIF
* Follows RAII principles, i.e. there's no create or delete method.
@ -17,7 +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.

2
src/fsfw/tasks/definitions.h
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@ -5,7 +5,7 @@
#include <cstdint>
using TaskName = const char*;
using TaskPriority = uint32_t;
using TaskPriority = int;
using TaskStackSize = size_t;
using TaskPeriod = double;
using TaskDeadlineMissedFunction = void (*)();