Merge branch 'development' into mueller/datapool-update
This commit is contained in:
commit
a89d9eab36
@ -139,5 +139,4 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE
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target_compile_options(${LIB_FSFW_NAME} PRIVATE
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${WARNING_FLAGS}
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${COMPILER_FLAGS}
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${ABI_FLAGS}
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)
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@ -3,11 +3,12 @@
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#include "OBSWVersion.h"
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#ifdef __cplusplus
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#include "objects/systemObjectList.h"
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#include "events/subsystemIdRanges.h"
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#include "returnvalues/classIds.h"
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#ifdef __cplusplus
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namespace config {
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#endif
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@ -682,8 +682,10 @@ void DeviceHandlerBase::doGetRead() {
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replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
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}
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if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
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replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
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if (mode == MODE_RAW) {
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if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
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replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
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}
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}
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else {
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parseReply(receivedData, receivedDataLen);
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@ -13,9 +13,11 @@ target_sources(${LIB_FSFW_NAME}
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)
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if(UNIX)
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find_package(Threads REQUIRED)
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target_link_libraries(${LIB_FSFW_NAME}
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PRIVATE
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rt
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pthread
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${CMAKE_THREAD_LIBS_INIT}
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)
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endif()
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@ -18,8 +18,14 @@ target_sources(${LIB_FSFW_NAME}
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Timer.cpp
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)
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target_link_libraries(${LIB_FSFW_NAME}
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PRIVATE
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rt
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pthread
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find_package(Threads REQUIRED)
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target_link_libraries(${LIB_FSFW_NAME} PRIVATE
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${CMAKE_THREAD_LIBS_INIT}
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rt
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)
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target_link_libraries(${LIB_FSFW_NAME} INTERFACE
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${CMAKE_THREAD_LIBS_INIT}
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)
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18
osal/rtems/CMakeLists.txt
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18
osal/rtems/CMakeLists.txt
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@ -0,0 +1,18 @@
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target_sources(${LIB_FSFW_NAME}
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PRIVATE
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Clock.cpp
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CpuUsage.cpp
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InitTask.cpp
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InternalErrorCodes.cpp
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MessageQueue.cpp
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MultiObjectTask.cpp
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Mutex.cpp
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MutexFactory.cpp
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PollingTask.cpp
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QueueFactory.cpp
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RtemsBasic.cpp
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TaskBase.cpp
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TaskFactory.cpp
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)
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@ -1,6 +1,10 @@
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#include "../../timemanager/Clock.h"
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#include "RtemsBasic.h"
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#include "../../timemanager/Clock.h"
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#include "../../ipc/MutexHelper.h"
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#include <rtems/score/todimpl.h>
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#include <rtems/rtems/clockimpl.h>
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uint16_t Clock::leapSeconds = 0;
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MutexIF* Clock::timeMutex = nullptr;
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@ -33,15 +37,24 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
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}
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ReturnValue_t Clock::setClock(const timeval* time) {
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//TODO This routine uses _TOD_Set which is not
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timespec newTime;
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newTime.tv_sec = time->tv_sec;
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if(time->tv_usec < 0) {
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// better returnvalue.
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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newTime.tv_nsec = time->tv_usec * TOD_NANOSECONDS_PER_MICROSECOND;
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//SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something).
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//Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed
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//TODO Second parameter is ISR_lock_Context
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_TOD_Set(&newTime,nullptr);
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return HasReturnvaluesIF::RETURN_OK;
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ISR_lock_Context context;
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_TOD_Lock();
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_TOD_Acquire(&context);
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Status_Control status = _TOD_Set(&newTime, &context);
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_TOD_Unlock();
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if(status == STATUS_SUCCESSFUL) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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// better returnvalue
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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ReturnValue_t Clock::getClock_timeval(timeval* time) {
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@ -91,6 +104,7 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
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}
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ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
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// TIsn't this a bug? Are RTEMS ticks always microseconds?
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rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
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rtems_status_code status = rtems_clock_get_tod(timeRtems);
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switch (status) {
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@ -34,8 +34,10 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
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return OUT_OF_PROXIES;
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case INTERNAL_ERROR_INVALID_GLOBAL_ID:
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return INVALID_GLOBAL_ID;
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#ifndef STM32H743ZI_NUCLEO
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case INTERNAL_ERROR_BAD_STACK_HOOK:
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return BAD_STACK_HOOK;
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#endif
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// case INTERNAL_ERROR_BAD_ATTRIBUTES:
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// return BAD_ATTRIBUTES;
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// case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:
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@ -9,9 +9,11 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
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rtems_status_code status = rtems_message_queue_create(name, message_depth,
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max_message_size, 0, &(this->id));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
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<< name << std::dec << " failed with status:"
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<< (uint32_t) status << std::endl;
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#endif
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this->id = 0;
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}
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}
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@ -30,8 +30,10 @@ ReturnValue_t MultiObjectTask::startTask() {
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rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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#endif
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}
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switch(status){
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case RTEMS_SUCCESSFUL:
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@ -63,7 +65,9 @@ void MultiObjectTask::taskFunctionality() {
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char nameSpace[8] = { 0 };
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char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
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nameSpace);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
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#endif
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if (this->deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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@ -10,16 +10,20 @@ Mutex::Mutex() :
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RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
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&mutexId);
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
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<< " failed with " << status << std::endl;
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#endif
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}
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}
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Mutex::~Mutex() {
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rtems_status_code status = rtems_semaphore_delete(mutexId);
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Mutex: deletion for id " << mutexId
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<< " failed with " << status << std::endl;
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#endif
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}
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}
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@ -35,15 +35,19 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
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PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
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//The task's functionality is called.
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originalTask->taskFunctionality();
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "Polling task " << originalTask->getId()
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<< " returned from taskFunctionality." << std::endl;
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#endif
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}
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void PollingTask::missedDeadlineCounter() {
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PollingTask::deadlineMissedCount++;
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if (PollingTask::deadlineMissedCount % 10 == 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PST missed " << PollingTask::deadlineMissedCount
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<< " deadlines." << std::endl;
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#endif
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}
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}
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@ -51,8 +55,10 @@ ReturnValue_t PollingTask::startTask() {
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rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PollingTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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#endif
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}
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switch(status){
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case RTEMS_SUCCESSFUL:
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@ -75,8 +81,10 @@ ReturnValue_t PollingTask::addSlot(object_id_t componentId,
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return HasReturnvaluesIF::RETURN_OK;
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}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Component " << std::hex << componentId <<
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" not found, not adding it to pst" << std::endl;
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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@ -22,9 +22,11 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
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}
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ReturnValue_t result = convertReturnCode(status);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
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<< osalName << std::dec << " failed with return code "
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<< (uint32_t) status << std::endl;
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#endif
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this->id = 0;
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}
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}
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2
unittest/CMakeLists.txt
Normal file
2
unittest/CMakeLists.txt
Normal file
@ -0,0 +1,2 @@
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add_subdirectory(internal)
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add_subdirectory(tests)
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