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continued refactoring

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This commit is contained in:
Robin Müller 2022-05-18 18:15:31 +02:00
parent 1886da0d3f
commit 64e7d4bb5e
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GPG Key ID: 11D4952C8CCEF814
2 changed files with 25 additions and 32 deletions
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19
src/fsfw/osal/host/FixedTimeslotTask.cpp
View File

@ -22,12 +22,12 @@
FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod setPeriod,
void (*setDeadlineMissedFunc)())
TaskDeadlineMissedFunction dlmFunc_)
: started(false),
pollingSeqTable(setPeriod * 1000),
pollingSeqTable(static_cast<uint32_t>(setPeriod * 1000)),
taskName(name),
period(setPeriod),
deadlineMissedFunc(setDeadlineMissedFunc) {
dlmFunc(dlmFunc_) {
// 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 +39,7 @@ 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 +48,7 @@ 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.
@ -114,8 +114,7 @@ void FixedTimeslotTask::taskFunctionality() {
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;
@ -133,9 +132,9 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotT
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); }
ReturnValue_t FixedTimeslotTask::checkSequence() { return pollingSeqTable.checkSequence(); }
uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; }
uint32_t FixedTimeslotTask::getPeriodMs() const { return static_cast<uint32_t>(period * 1000); }
bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
bool shouldDelay = false;
@ -176,3 +175,5 @@ bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chr
(*previousWakeTimeMs) = currentStartTime;
return false;
}
bool FixedTimeslotTask::isEmpty() const { return pollingSeqTable.isEmpty() };

38
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/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/definitions.h"
class ExecutableObjectIF;
@ -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.
@ -57,22 +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() const override;
ReturnValue_t checkSequence() override;
uint32_t getPeriodMs() const;
ReturnValue_t sleepFor(uint32_t ms) override;
uint32_t getPeriodMs() const override;
ReturnValue_t sleepFor(uint32_t ms);
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};
TaskDeadlineMissedFunction dlmFunc = nullptr;
//! Polling sequence table which contains the object to execute
//! and information like the timeslots and the passed execution step.
@ -89,15 +90,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
*/
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 +109,9 @@ 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);
bool delayForInterval(chron_ms* previousWakeTimeMs, chron_ms interval);
};
#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */