Merge pull request 'RTEMS Updates and Bugfixes' (#363) from mueller/rtems-only into development

Reviewed-on: fsfw/fsfw#363

osal/rtems/CMakeLists.txt

@@ -5,13 +5,13 @@ target_sources(${LIB_FSFW_NAME}
 		InitTask.cpp
 		InternalErrorCodes.cpp
 		MessageQueue.cpp
-		MultiObjectTask.cpp
+		PeriodicTask.cpp
 		Mutex.cpp
 		MutexFactory.cpp
-		PollingTask.cpp
+		FixedTimeslotTask.cpp
 		QueueFactory.cpp
 		RtemsBasic.cpp
-		TaskBase.cpp
+		RTEMSTaskBase.cpp
 		TaskFactory.cpp
 )
 

osal/rtems/Clock.cpp

@@ -104,9 +104,13 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 }
 
 ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-	// TIsn't this a bug? Are RTEMS ticks always microseconds?
+	/* For all but the last field, the struct will be filled with the correct values */
 	rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
 	rtems_status_code status = rtems_clock_get_tod(timeRtems);
+	/* The last field now contains the RTEMS ticks of the seconds from 0
+    to rtems_clock_get_ticks_per_second() minus one. We calculate the microseconds accordingly */
+	timeRtems->ticks = static_cast<float>(timeRtems->ticks) /
+	        rtems_clock_get_ticks_per_second() * 1e6;
 	switch (status) {
 	case RTEMS_SUCCESSFUL:
 		return HasReturnvaluesIF::RETURN_OK;

osal/rtems/CpuUsage.cpp

@@ -164,7 +164,7 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	if ((*size = *size - MAX_LENGTH_OF_THREAD_NAME) < 0) {
+	if (*size < MAX_LENGTH_OF_THREAD_NAME) {
 		return STREAM_TOO_SHORT;
 	}
 	memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);

osal/rtems/FixedTimeslotTask.cpp

@@ -0,0 +1,140 @@
+#include "FixedTimeslotTask.h"
+#include "RtemsBasic.h"
+
+#include "../../tasks/FixedSequenceSlot.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../serviceinterface/ServiceInterface.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>
+
+#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;
+}
+
+FixedTimeslotTask::~FixedTimeslotTask() {
+}
+
+rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
+    /* The argument is re-interpreted as a FixedTimeslotTask */
+    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+    /* The task's functionality is called. */
+    return originalTask->taskFunctionality();
+    /* Should never be reached */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality." <<
+            std::endl;
+#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));
+    if (status != RTEMS_SUCCESSFUL) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "PollingTask::startTask for " << std::hex << this->getId()
+				        << std::dec << " failed." << std::endl;
+#endif
+    }
+    switch(status){
+    case RTEMS_SUCCESSFUL:
+        //ask started successfully
+        return HasReturnvaluesIF::RETURN_OK;
+    default:
+        /*
+	    RTEMS_INVALID_ADDRESS - invalid task entry point
+		RTEMS_INVALID_ID - invalid task id
+		RTEMS_INCORRECT_STATE - task not in the dormant state
+		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+        uint32_t slotTimeMs, int8_t executionStep) {
+    ExecutableObjectIF* object = objectManager->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() {
+    /* A local iterator for the Polling Sequence Table is created to find the start time for
+	the first entry. */
+    FixedSlotSequence::SlotListIter it = pst.current;
+
+    /* Initialize the PST with the correct calling task */
+    pst.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()) {
+            /* Do nothing */
+        }
+        else {
+            /* The interval for the next polling slot is selected. */
+            interval = RtemsBasic::convertMsToTicks(this->pst.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();
+                }
+            }
+        }
+        /* The device handler for this slot is executed and the next one is chosen. */
+        this->pst.executeAndAdvance();
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms){
+    return RTEMSTaskBase::sleepFor(ms);
+};

osal/rtems/FixedTimeslotTask.h

@@ -0,0 +1,81 @@
+#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
+#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
+
+#include "RTEMSTaskBase.h"
+#include "../../tasks/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+
+class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
+public:
+    /**
+     * @brief	The standard constructor of the class.
+     * @details
+     * This is the general constructor of the class. In addition to the TaskBase parameters,
+     * the following variables are passed:
+     * @param	setDeadlineMissedFunc   The function pointer to the deadline missed function
+     *                                  that shall be assigned.
+     * @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)());
+
+    /**
+     * @brief	The destructor of the class.
+     * @details
+     * 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 );
+
+    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);
+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
+     */
+    static rtems_task taskEntryPoint( rtems_task_argument argument );
+
+    /**
+     * @brief	This function holds the main functionality of the thread.
+     * @details
+     * Holding the main functionality of the task, this method is most important.
+     * It links the functionalities provided by FixedSlotSequence with the OS's system calls to
+     * keep the timing of the periods.
+     */
+    void taskFunctionality( void );
+};
+
+#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */

osal/rtems/MultiObjectTask.cpp

@@ -1,92 +0,0 @@
-/**
- * @file	MultiObjectTask.cpp
- * @brief	This file defines the MultiObjectTask class.
- * @date	30.01.2014
- * @author	baetz
- */
-
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../tasks/ExecutableObjectIF.h"
-#include "MultiObjectTask.h"
-
-MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority,
-		size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
-		TaskBase(setPriority, setStack, name), periodTicks(
-				RtemsBasic::convertMsToTicks(setPeriod)), periodId(0), deadlineMissedFunc(
-				setDeadlineMissedFunc) {
-}
-
-MultiObjectTask::~MultiObjectTask(void) {
-	//Do not delete objects, we were responsible for ptrs only.
-	rtems_rate_monotonic_delete(periodId);
-}
-rtems_task MultiObjectTask::taskEntryPoint(rtems_task_argument argument) {
-	//The argument is re-interpreted as MultiObjectTask. The Task object is global, so it is found from any place.
-	MultiObjectTask *originalTask(reinterpret_cast<MultiObjectTask*>(argument));
-	originalTask->taskFunctionality();
-}
-
-ReturnValue_t MultiObjectTask::startTask() {
-	rtems_status_code status = rtems_task_start(id, MultiObjectTask::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;
-#endif
-	}
-	switch(status){
-	case RTEMS_SUCCESSFUL:
-		//ask started successfully
-		return HasReturnvaluesIF::RETURN_OK;
-	default:
-/*		RTEMS_INVALID_ADDRESS - invalid task entry point
-		RTEMS_INVALID_ID - invalid task id
-		RTEMS_INCORRECT_STATE - task not in the dormant state
-		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t MultiObjectTask::sleepFor(uint32_t ms) {
-	return TaskBase::sleepFor(ms);
-}
-
-void MultiObjectTask::taskFunctionality() {
-	TaskBase::setAndStartPeriod(periodTicks,&periodId);
-	//The task's "infinite" inner loop is entered.
-	while (1) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
-		}
-		rtems_status_code status = TaskBase::restartPeriod(periodTicks,periodId);
-		if (status == RTEMS_TIMEOUT) {
-			char nameSpace[8] = { 0 };
-			char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
-					nameSpace);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
-#endif
-			if (this->deadlineMissedFunc != nullptr) {
-				this->deadlineMissedFunc();
-			}
-		}
-	}
-}
-
-ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
-			object);
-	if (newObject == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	objectList.push_back(newObject);
-	newObject->setTaskIF(this);
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t MultiObjectTask::getPeriodMs() const {
-	return RtemsBasic::convertTicksToMs(periodTicks);
-}

osal/rtems/Mutex.cpp

@@ -1,18 +1,20 @@
 #include "Mutex.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterface.h"
 
 uint8_t Mutex::count = 0;
 
-Mutex::Mutex() :
+Mutex::Mutex() {
-		mutexId(0) {
 	rtems_name mutexName = ('M' << 24) + ('T' << 16) + ('X' << 8) + count++;
 	rtems_status_code status = rtems_semaphore_create(mutexName, 1,
 	RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
 			&mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
+		sif::error << "Mutex::Mutex: Creation with name, id " << mutexName << ", " << mutexId <<
-				<< " failed with " << status << std::endl;
+		        " failed with " << status << std::endl;
+#else
+		sif::printError("Mutex::Mutex: Creation with name, id %s, %d failed with %d\n", mutexName,
+		        static_cast<int>(mutexId), static_cast<int>(status));
 #endif
 	}
 }

osal/rtems/Mutex.h

@@ -11,7 +11,7 @@ public:
 	ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
 	ReturnValue_t unlockMutex();
 private:
-	rtems_id mutexId;
+	rtems_id mutexId = 0;
 	static uint8_t count;
 };
 

osal/rtems/MutexFactory.cpp

@@ -1,6 +1,7 @@
-#include "../../ipc/MutexFactory.h"
 #include "Mutex.h"
-#include "RtemsBasic.h"
+
+#include "../../ipc/MutexFactory.h"
+
 
 MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
 

osal/rtems/PeriodicTask.cpp

@@ -0,0 +1,83 @@
+#include "PeriodicTask.h"
+
+#include "../../serviceinterface/ServiceInterface.h"
+#include "../../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) {
+}
+
+PeriodicTask::~PeriodicTask(void) {
+    /* Do not delete objects, we were responsible for pointers only. */
+    rtems_rate_monotonic_delete(periodId);
+}
+
+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));
+    return originalTask->taskFunctionality();;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+    rtems_status_code status = 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;
+#endif
+    }
+    switch(status){
+    case RTEMS_SUCCESSFUL:
+        /* Task started successfully */
+        return HasReturnvaluesIF::RETURN_OK;
+    default:
+        /* RTEMS_INVALID_ADDRESS - invalid task entry point
+		RTEMS_INVALID_ID - invalid task id
+		RTEMS_INCORRECT_STATE - task not in the dormant state
+		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+    return RTEMSTaskBase::sleepFor(ms);
+}
+
+void PeriodicTask::taskFunctionality() {
+    RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId);
+    for (const auto& object: objectList) {
+        object->initializeAfterTaskCreation();
+    }
+    /* The task's "infinite" inner loop is entered. */
+    while (1) {
+        for (const auto& object: objectList) {
+            object->performOperation();
+        }
+        rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId);
+        if (status == RTEMS_TIMEOUT) {
+            if (this->deadlineMissedFunc != nullptr) {
+                this->deadlineMissedFunc();
+            }
+        }
+    }
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+    ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(object);
+    if (newObject == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    objectList.push_back(newObject);
+    newObject->setTaskIF(this);
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+    return RtemsBasic::convertTicksToMs(periodTicks);
+}

osal/rtems/PeriodicTask.h

@@ -1,10 +1,10 @@
-#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
+#ifndef FSFW_OSAL_RTEMS_PERIODICTASK_H_
-#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
+#define FSFW_OSAL_RTEMS_PERIODICTASK_H_
 
+#include "RTEMSTaskBase.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
 
-#include "TaskBase.h"
 #include <vector>
 
 class ExecutableObjectIF;
@@ -18,7 +18,7 @@ class ExecutableObjectIF;
  * @author  baetz
  * @ingroup task_handling
  */
-class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
+class PeriodicTask: public RTEMSTaskBase, public PeriodicTaskIF {
 public:
 	/**
 	 * @brief	Standard constructor of the class.
@@ -35,13 +35,13 @@ public:
 	 * @param setDeadlineMissedFunc	The function pointer to the deadline missed function
 	 * 								that shall be assigned.
 	 */
-	MultiObjectTask(const char *name, rtems_task_priority setPriority, size_t setStack, rtems_interval setPeriod,
+	PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
-			void (*setDeadlineMissedFunc)());
+	        rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
 	/**
 	 * @brief	Currently, the executed object's lifetime is not coupled with the task object's
 	 * 			lifetime, so the destructor is empty.
 	 */
-	virtual ~MultiObjectTask(void);
+	virtual ~PeriodicTask(void);
 
 	/**
 	 * @brief	The method to start the task.
@@ -76,7 +76,7 @@ protected:
 	/**
 	 * @brief id of the associated OS period
 	 */
-	rtems_id periodId;
+	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.
@@ -104,4 +104,4 @@ protected:
 	void taskFunctionality(void);
 };
 
-#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */

osal/rtems/PollingTask.cpp

@@ -1,131 +0,0 @@
-#include "../../tasks/FixedSequenceSlot.h"
-#include "../../objectmanager/SystemObjectIF.h"
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "PollingTask.h"
-#include "RtemsBasic.h"
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include <rtems/bspIo.h>
-#include <rtems/rtems/ratemon.h>
-#include <rtems/rtems/status.h>
-#include <rtems/rtems/tasks.h>
-#include <rtems/rtems/types.h>
-#include <stddef.h>
-#include <sys/_stdint.h>
-#include <iostream>
-#include <list>
-
-uint32_t PollingTask::deadlineMissedCount = 0;
-
-PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
-		size_t setStack, uint32_t setOverallPeriod,
-		void (*setDeadlineMissedFunc)()) :
-		TaskBase(setPriority, setStack, name), periodId(0), pst(
-				setOverallPeriod) {
-	// All additional attributes are applied to the object.
-	this->deadlineMissedFunc = setDeadlineMissedFunc;
-}
-
-PollingTask::~PollingTask() {
-}
-
-rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
-
-	//The argument is re-interpreted as PollingTask.
-	PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
-	//The task's functionality is called.
-	originalTask->taskFunctionality();
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-	sif::debug << "Polling task " << originalTask->getId()
-			<< " returned from taskFunctionality." << std::endl;
-#endif
-}
-
-void PollingTask::missedDeadlineCounter() {
-	PollingTask::deadlineMissedCount++;
-	if (PollingTask::deadlineMissedCount % 10 == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "PST missed " << PollingTask::deadlineMissedCount
-				<< " deadlines." << std::endl;
-#endif
-	}
-}
-
-ReturnValue_t PollingTask::startTask() {
-	rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
-			rtems_task_argument((void *) this));
-	if (status != RTEMS_SUCCESSFUL) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "PollingTask::startTask for " << std::hex << this->getId()
-				<< std::dec << " failed." << std::endl;
-#endif
-	}
-	switch(status){
-	case RTEMS_SUCCESSFUL:
-		//ask started successfully
-		return HasReturnvaluesIF::RETURN_OK;
-	default:
-/*		RTEMS_INVALID_ADDRESS - invalid task entry point
-		RTEMS_INVALID_ID - invalid task id
-		RTEMS_INCORRECT_STATE - task not in the dormant state
-		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t PollingTask::addSlot(object_id_t componentId,
-		uint32_t slotTimeMs, int8_t executionStep) {
-	ExecutableObjectIF* object = objectManager->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 PollingTask::getPeriodMs() const {
-	return pst.getLengthMs();
-}
-
-ReturnValue_t PollingTask::checkSequence() const {
-	return pst.checkSequence();
-}
-
-#include <rtems/io.h>
-
-void PollingTask::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;
-
-	//The start time for the first entry is read.
-	rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
-	TaskBase::setAndStartPeriod(interval,&periodId);
-	//The task's "infinite" inner loop is entered.
-	while (1) {
-		if (pst.slotFollowsImmediately()) {
-			//Do nothing
-		} else {
-			//The interval for the next polling slot is selected.
-			interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
-			//The period is checked and restarted with the new interval.
-			//If the deadline was missed, the deadlineMissedFunc is called.
-			rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
-			if (status == RTEMS_TIMEOUT) {
-				if (this->deadlineMissedFunc != nullptr) {
-					this->deadlineMissedFunc();
-				}
-			}
-		}
-		//The device handler for this slot is executed and the next one is chosen.
-		this->pst.executeAndAdvance();
-	}
-}
-
-ReturnValue_t PollingTask::sleepFor(uint32_t ms){
-	return TaskBase::sleepFor(ms);
-};

osal/rtems/PollingTask.h

@@ -1,85 +0,0 @@
-#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
-#define FSFW_OSAL_RTEMS_POLLINGTASK_H_
-
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
-#include "TaskBase.h"
-
-class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
-	public:
-	/**
-	 * @brief	The standard constructor of the class.
-	 *
-	 * @details	This is the general constructor of the class. In addition to the TaskBase parameters,
-	 * 			the following variables are passed:
-	 *
-	 * @param	(*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
-	 *
-	 * @param	getPst The object id of the completely initialized polling sequence.
-	 */
-	PollingTask( const char *name, rtems_task_priority setPriority, size_t setStackSize, uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
-
-	/**
-	 * @brief	The destructor of the class.
-	 *
-	 * @details	The destructor frees all heap memory that was allocated on thread initialization for the PST and
-	 * 			the device handlers. This is done by calling the PST's destructor.
-	 */
-	virtual ~PollingTask( void );
-
-	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);
-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 );
-	/**
-	 * @brief	This is the entry point in a new polling thread.
-	 *
-	 * @details	This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
-	 * 			and link the Polling Sequence Table to the thread object and start taskFunctionality()
-	 * 			on success. If operation of the task is ended for some reason,
-	 * 			the destructor is called to free allocated memory.
-	 */
-	static rtems_task taskEntryPoint( rtems_task_argument argument );
-
-	/**
-	 * @brief	This function holds the main functionality of the thread.
-	 *
-	 *
-	 * @details	Holding the main functionality of the task, this method is most important.
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
-	 * 			to keep the timing of the periods.
-	 */
-	void taskFunctionality( void );
-};
-
-#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */

osal/rtems/RTEMSTaskBase.cpp

@@ -0,0 +1,84 @@
+#include "RTEMSTaskBase.h"
+#include "../../serviceinterface/ServiceInterface.h"
+
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = RTEMS_MINIMUM_STACK_SIZE;
+
+RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size,
+		const char *name) {
+	rtems_name osalName = 0;
+	for (uint8_t i = 0; i < 4; i++) {
+		if (name[i] == 0) {
+			break;
+		}
+		osalName += name[i] << (8 * (3 - i));
+	}
+	//The task is created with the operating system's system call.
+	rtems_status_code status = RTEMS_UNSATISFIED;
+	if (set_priority <= 99) {
+		 status = rtems_task_create(osalName,
+				(0xFF - 2 * set_priority), stack_size,
+				RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR,
+				RTEMS_FLOATING_POINT, &id);
+	}
+	ReturnValue_t result = convertReturnCode(status);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+		sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
+				<< osalName << std::dec << " failed with return code "
+				<< (uint32_t) status << std::endl;
+#endif
+		this->id = 0;
+	}
+}
+
+RTEMSTaskBase::~RTEMSTaskBase() {
+	rtems_task_delete(id);
+}
+
+rtems_id RTEMSTaskBase::getId() {
+	return this->id;
+}
+
+ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
+	rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
+	return convertReturnCode(status);
+}
+
+
+ReturnValue_t RTEMSTaskBase::convertReturnCode(rtems_status_code inValue) {
+	switch (inValue) {
+	case RTEMS_SUCCESSFUL:
+		return HasReturnvaluesIF::RETURN_OK;
+	case RTEMS_MP_NOT_CONFIGURED:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_NAME:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_TOO_MANY:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_ADDRESS:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_UNSATISFIED:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_PRIORITY:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+}
+
+
+ReturnValue_t RTEMSTaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
+	rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
+	rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
+	if (status == RTEMS_SUCCESSFUL) {
+		status = restartPeriod(period,*periodId);
+	}
+	return convertReturnCode(status);
+}
+
+rtems_status_code RTEMSTaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
+	//This is necessary to avoid a call with period = 0, which does not start the period.
+	rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
+	return status;
+}

osal/rtems/RTEMSTaskBase.h

@@ -0,0 +1,47 @@
+#ifndef FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
+#define FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
+
+#include "RtemsBasic.h"
+#include "../../tasks/PeriodicTaskIF.h"
+
+/**
+ * @brief	This is the basic task handling class for rtems.
+ *
+ * @details Task creation base class for rtems.
+ */
+class RTEMSTaskBase {
+protected:
+	/**
+	 * @brief	The class stores the task id it got assigned from the operating system in this attribute.
+	 * 			If initialization fails, the id is set to zero.
+	 */
+	rtems_id id;
+public:
+	/**
+	 * @brief	The constructor creates and initializes a task.
+	 * @details	This is accomplished by using the operating system call to create a task. The name is
+	 * 			created automatically with the help od taskCounter. Priority and stack size are
+	 * 			adjustable, all other attributes are set with default values.
+	 * @param priority		Sets the priority of a task. Values range from a low 0 to a high 99.
+	 * @param stack_size	The stack size reserved by the operating system for the task.
+	 * @param nam			The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated
+	 */
+	RTEMSTaskBase( rtems_task_priority priority, size_t stack_size, const char  *name);
+	/**
+	 * @brief	In the destructor, the created task is deleted.
+	 */
+	virtual ~RTEMSTaskBase();
+	/**
+	 * @brief	This method returns the task id of this class.
+	 */
+	rtems_id getId();
+
+	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);
+private:
+	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
+};
+
+
+#endif /* FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ */

osal/rtems/RtemsBasic.cpp

@@ -1,5 +1,6 @@
 #include "RtemsBasic.h"
 
+// TODO: Can this be removed?
 
 //ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) {
 //	if (inValue == RTEMS_SUCCESSFUL) {

osal/rtems/RtemsBasic.h

@@ -2,12 +2,13 @@
 #define FSFW_OSAL_RTEMS_RTEMSBASIC_H_
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
+
 #include <rtems.h>
 #include <rtems/libio.h>
 #include <rtems/error.h>
 #include <rtems/stackchk.h>
-#include <stddef.h>
 
+#include <cstddef>
 
 class RtemsBasic {
 public:

osal/rtems/TaskFactory.cpp

@@ -1,8 +1,9 @@
-#include "../../tasks/TaskFactory.h"
+#include "FixedTimeslotTask.h"
-#include "MultiObjectTask.h"
+#include "PeriodicTask.h"
-#include "PollingTask.h"
 #include "InitTask.h"
 #include "RtemsBasic.h"
+
+#include "../../tasks/TaskFactory.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
@@ -15,15 +16,21 @@ TaskFactory* TaskFactory::instance() {
 	return TaskFactory::factoryInstance;
 }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
+        TaskStackSize stackSize_,TaskPeriod periodInSeconds_,
+        TaskDeadlineMissedFunction deadLineMissedFunction_) {
 	rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
 
-	return static_cast<PeriodicTaskIF*>(new MultiObjectTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
+	return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_, stackSize_,
+	        taskPeriod,deadLineMissedFunction_));
 }
 
-FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction 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 PollingTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
+	return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_, taskPriority_,
+	        stackSize_, taskPeriod, deadLineMissedFunction_));
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {