From 94fa917202970b0e7ecf516497be87ce8f1727c3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:17:22 +0100 Subject: [PATCH] some tweaks --- osal/FreeRTOS/BinSemaphUsingTask.cpp | 8 +++++-- osal/FreeRTOS/BinSemaphUsingTask.h | 27 ++++++++++++++++++----- osal/FreeRTOS/BinarySemaphore.cpp | 4 ++-- osal/FreeRTOS/BinarySemaphore.h | 6 ++--- osal/FreeRTOS/Clock.cpp | 10 ++++++++- osal/FreeRTOS/CountingSemaphUsingTask.cpp | 5 +++-- osal/FreeRTOS/CountingSemaphUsingTask.h | 13 ++++++----- osal/FreeRTOS/CountingSemaphore.cpp | 5 +++-- osal/FreeRTOS/CountingSemaphore.h | 3 ++- osal/FreeRTOS/MessageQueue.cpp | 7 +++++- osal/FreeRTOS/MessageQueue.h | 3 ++- osal/FreeRTOS/MutexFactory.cpp | 10 +++++---- osal/FreeRTOS/QueueFactory.cpp | 4 ++-- osal/FreeRTOS/TaskFactory.cpp | 20 ++++++++--------- osal/FreeRTOS/TaskManagement.cpp | 2 +- osal/FreeRTOS/TaskManagement.h | 3 +-- osal/FreeRTOS/Timekeeper.cpp | 2 +- timemanager/Clock.h | 6 ++--- 18 files changed, 88 insertions(+), 50 deletions(-) diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp index dd1e48ca..9c29948e 100644 --- a/osal/FreeRTOS/BinSemaphUsingTask.cpp +++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp @@ -1,5 +1,5 @@ -#include "../../osal/FreeRTOS/BinSemaphUsingTask.h" -#include "../../osal/FreeRTOS/TaskManagement.h" +#include "BinSemaphUsingTask.h" +#include "TaskManagement.h" #include "../../serviceinterface/ServiceInterfaceStream.h" BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() { @@ -16,6 +16,10 @@ BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() { xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr); } +void BinarySemaphoreUsingTask::refreshTaskHandle() { + handle = TaskManagement::getCurrentTaskHandle(); +} + ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType, uint32_t timeoutMs) { TickType_t timeout = 0; diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h index f3c0b0ea..65a091a3 100644 --- a/osal/FreeRTOS/BinSemaphUsingTask.h +++ b/osal/FreeRTOS/BinSemaphUsingTask.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ +#ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ +#define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ #include "../../returnvalues/HasReturnvaluesIF.h" #include "../../tasks/SemaphoreIF.h" @@ -7,13 +7,20 @@ #include #include +// todo: does not work for older FreeRTOS version, so we should +// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ? + /** * @brief Binary Semaphore implementation using the task notification value. * The notification value should therefore not be used - * for other purposes. + * for other purposes! * @details * Additional information: https://www.freertos.org/RTOS-task-notifications.html * and general semaphore documentation. + * This semaphore is bound to the task it is created in! + * Take care of building this class with the correct executing task, + * (for example in the initializeAfterTaskCreation() function) or + * by calling refreshTaskHandle() with the correct executing task. */ class BinarySemaphoreUsingTask: public SemaphoreIF, public HasReturnvaluesIF { @@ -25,6 +32,16 @@ public: //! @brief Default dtor virtual~ BinarySemaphoreUsingTask(); + /** + * This function can be used to get the correct task handle from the + * currently executing task. + * + * This is required because the task notification value will be used + * as a binary semaphore, and the semaphore might be created by another + * task. + */ + void refreshTaskHandle(); + ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override; ReturnValue_t release() override; @@ -67,10 +84,10 @@ public: * - @c RETURN_FAILED on failure */ static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify, - BaseType_t * higherPriorityTaskWoken); + BaseType_t* higherPriorityTaskWoken); protected: TaskHandle_t handle; }; -#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */ +#endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */ diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp index 8cc3c495..6fee5c35 100644 --- a/osal/FreeRTOS/BinarySemaphore.cpp +++ b/osal/FreeRTOS/BinarySemaphore.cpp @@ -1,5 +1,5 @@ -#include "../../osal/FreeRTOS/BinarySemaphore.h" -#include "../../osal/FreeRTOS/TaskManagement.h" +#include "BinarySemaphore.h" +#include "TaskManagement.h" #include "../../serviceinterface/ServiceInterfaceStream.h" BinarySemaphore::BinarySemaphore() { diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h index c6cedc53..8969d503 100644 --- a/osal/FreeRTOS/BinarySemaphore.h +++ b/osal/FreeRTOS/BinarySemaphore.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ -#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ +#ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ +#define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ #include "../../returnvalues/HasReturnvaluesIF.h" #include "../../tasks/SemaphoreIF.h" @@ -104,4 +104,4 @@ protected: SemaphoreHandle_t handle; }; -#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */ +#endif /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */ diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp index acfa98d7..d3f4e68e 100644 --- a/osal/FreeRTOS/Clock.cpp +++ b/osal/FreeRTOS/Clock.cpp @@ -1,6 +1,7 @@ +#include "Timekeeper.h" + #include "../../timemanager/Clock.h" #include "../../globalfunctions/timevalOperations.h" -#include "Timekeeper.h" #include #include @@ -67,6 +68,13 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) { return HasReturnvaluesIF::RETURN_OK; } + +//uint32_t Clock::getUptimeSeconds() { +// timeval uptime = getUptime(); +// return uptime.tv_sec; +//} + + ReturnValue_t Clock::getClock_usecs(uint64_t* time) { timeval time_timeval; ReturnValue_t result = getClock_timeval(&time_timeval); diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp index a47341bc..17cdf7ce 100644 --- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp +++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp @@ -1,5 +1,6 @@ -#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h" -#include "../../osal/FreeRTOS/TaskManagement.h" +#include "CountingSemaphUsingTask.h" +#include "TaskManagement.h" + #include "../../serviceinterface/ServiceInterfaceStream.h" CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount, diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h index 8977258c..f258197b 100644 --- a/osal/FreeRTOS/CountingSemaphUsingTask.h +++ b/osal/FreeRTOS/CountingSemaphUsingTask.h @@ -1,13 +1,11 @@ -#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ -#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ +#ifndef FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ +#define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ -#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h" +#include "CountingSemaphUsingTask.h" #include "../../tasks/SemaphoreIF.h" -extern "C" { #include #include -} /** * @brief Couting Semaphore implementation which uses the notification value @@ -16,6 +14,9 @@ extern "C" { * @details * Additional information: https://www.freertos.org/RTOS-task-notifications.html * and general semaphore documentation. + * This semaphore is bound to the task it is created in! + * Take care of calling this function with the correct executing task, + * (for example in the initializeAfterTaskCreation() function). */ class CountingSemaphoreUsingTask: public SemaphoreIF { public: @@ -99,4 +100,4 @@ private: const uint8_t maxCount; }; -#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */ +#endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */ diff --git a/osal/FreeRTOS/CountingSemaphore.cpp b/osal/FreeRTOS/CountingSemaphore.cpp index d1310a6a..a202e480 100644 --- a/osal/FreeRTOS/CountingSemaphore.cpp +++ b/osal/FreeRTOS/CountingSemaphore.cpp @@ -1,6 +1,7 @@ -#include "../../osal/FreeRTOS/CountingSemaphore.h" +#include "CountingSemaphore.h" +#include "TaskManagement.h" + #include "../../serviceinterface/ServiceInterfaceStream.h" -#include "../../osal/FreeRTOS/TaskManagement.h" #include diff --git a/osal/FreeRTOS/CountingSemaphore.h b/osal/FreeRTOS/CountingSemaphore.h index ae2f62ae..6af1d6d2 100644 --- a/osal/FreeRTOS/CountingSemaphore.h +++ b/osal/FreeRTOS/CountingSemaphore.h @@ -1,6 +1,7 @@ #ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ #define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ -#include "../../osal/FreeRTOS/BinarySemaphore.h" + +#include "BinarySemaphore.h" /** * @brief Counting semaphores, which can be acquire more than once. diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp index 2dfe5ab6..fdadf8b7 100644 --- a/osal/FreeRTOS/MessageQueue.cpp +++ b/osal/FreeRTOS/MessageQueue.cpp @@ -11,7 +11,12 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize): maxMessageSize(maxMessageSize) { handle = xQueueCreate(messageDepth, maxMessageSize); if (handle == nullptr) { - sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl; + sif::error << "MessageQueue::MessageQueue:" + << " Creation failed." << std::endl; + sif::error << "Specified Message Depth: " << messageDepth + << std::endl; + sif::error << "Specified Maximum Message Size: " + << maxMessageSize << std::endl; } } diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h index b99bf7c8..8fa86283 100644 --- a/osal/FreeRTOS/MessageQueue.h +++ b/osal/FreeRTOS/MessageQueue.h @@ -1,10 +1,11 @@ #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ +#include "TaskManagement.h" + #include "../../internalError/InternalErrorReporterIF.h" #include "../../ipc/MessageQueueIF.h" #include "../../ipc/MessageQueueMessageIF.h" -#include "../../osal/FreeRTOS/TaskManagement.h" #include #include diff --git a/osal/FreeRTOS/MutexFactory.cpp b/osal/FreeRTOS/MutexFactory.cpp index 75b63d07..d9569e35 100644 --- a/osal/FreeRTOS/MutexFactory.cpp +++ b/osal/FreeRTOS/MutexFactory.cpp @@ -1,10 +1,12 @@ +#include "Mutex.h" + #include "../../ipc/MutexFactory.h" -#include "../FreeRTOS/Mutex.h" -//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? -> one is on heap the other on bss/data +//TODO: Different variant than the lazy loading in QueueFactory. +//What's better and why? -> one is on heap the other on bss/data //MutexFactory* MutexFactory::factoryInstance = new MutexFactory(); -MutexFactory* MutexFactory::factoryInstance = NULL; +MutexFactory* MutexFactory::factoryInstance = nullptr; MutexFactory::MutexFactory() { } @@ -13,7 +15,7 @@ MutexFactory::~MutexFactory() { } MutexFactory* MutexFactory::instance() { - if (factoryInstance == NULL){ + if (factoryInstance == nullptr){ factoryInstance = new MutexFactory(); } return MutexFactory::factoryInstance; diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp index ed29e10c..5b3c73dc 100644 --- a/osal/FreeRTOS/QueueFactory.cpp +++ b/osal/FreeRTOS/QueueFactory.cpp @@ -1,8 +1,8 @@ -#include "MessageQueue.h" - #include "../../ipc/MessageQueueSenderIF.h" #include "../../ipc/QueueFactory.h" +#include "../../osal/FreeRTOS/MessageQueue.h" + QueueFactory* QueueFactory::factoryInstance = nullptr; diff --git a/osal/FreeRTOS/TaskFactory.cpp b/osal/FreeRTOS/TaskFactory.cpp index 80df38b2..3ac5cb49 100644 --- a/osal/FreeRTOS/TaskFactory.cpp +++ b/osal/FreeRTOS/TaskFactory.cpp @@ -13,32 +13,30 @@ TaskFactory::~TaskFactory() { TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; } -/*** - * Keep in Mind that you need to call before this vTaskStartScheduler()! - * High taskPriority_ number means high priority. - */ + PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod period_, TaskDeadlineMissedFunction deadLineMissedFunction_) { - return (PeriodicTaskIF*) (new PeriodicTask(name_, taskPriority_, stackSize_, - period_, deadLineMissedFunction_)); + return dynamic_cast(new PeriodicTask(name_, taskPriority_, + stackSize_, period_, deadLineMissedFunction_)); } -/*** + +/** * Keep in Mind that you need to call before this vTaskStartScheduler()! */ FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPeriod period_, TaskDeadlineMissedFunction deadLineMissedFunction_) { - return (FixedTimeslotTaskIF*) (new FixedTimeslotTask(name_, taskPriority_, - stackSize_, period_, deadLineMissedFunction_)); + return dynamic_cast(new FixedTimeslotTask(name_, + taskPriority_,stackSize_, period_, deadLineMissedFunction_)); } ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) { - if (task == NULL) { + if (task == nullptr) { //delete self - vTaskDelete(NULL); + vTaskDelete(nullptr); return HasReturnvaluesIF::RETURN_OK; } else { //TODO not implemented diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp index b77f12a9..18572045 100644 --- a/osal/FreeRTOS/TaskManagement.cpp +++ b/osal/FreeRTOS/TaskManagement.cpp @@ -1,4 +1,4 @@ -#include "../../osal/FreeRTOS/TaskManagement.h" +#include "TaskManagement.h" void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h index eb735185..c6c46f21 100644 --- a/osal/FreeRTOS/TaskManagement.h +++ b/osal/FreeRTOS/TaskManagement.h @@ -3,10 +3,9 @@ #include "../../returnvalues/HasReturnvaluesIF.h" -extern "C" { #include #include -} + #include /** diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp index 1031f0c4..d986d832 100644 --- a/osal/FreeRTOS/Timekeeper.cpp +++ b/osal/FreeRTOS/Timekeeper.cpp @@ -1,6 +1,6 @@ #include "Timekeeper.h" -#include "FreeRTOSConfig.h" +#include Timekeeper * Timekeeper::myinstance = nullptr; diff --git a/timemanager/Clock.h b/timemanager/Clock.h index bc112388..d8b06fda 100644 --- a/timemanager/Clock.h +++ b/timemanager/Clock.h @@ -1,5 +1,5 @@ -#ifndef FRAMEWORK_TIMEMANAGER_CLOCK_H_ -#define FRAMEWORK_TIMEMANAGER_CLOCK_H_ +#ifndef FSFW_TIMEMANAGER_CLOCK_H_ +#define FSFW_TIMEMANAGER_CLOCK_H_ #include "../returnvalues/HasReturnvaluesIF.h" #include "../ipc/MutexHelper.h" @@ -151,4 +151,4 @@ private: }; -#endif /* FRAMEWORK_TIMEMANAGER_CLOCK_H_ */ +#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */