Merge pull request 'Task IF refactoring' (#636) from mueller/task-if-refactoring into development
Reviewed-on: fsfw/fsfw#636
This commit is contained in:
commit
c3aaab4b93
32
CHANGELOG.md
32
CHANGELOG.md
@ -47,6 +47,38 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
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the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
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### Task Module Refactoring
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/636
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**Refactoring general task code**
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- There was a lot of duplicate/boilerplate code inside the individual task IF OSAL implementations.
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Remove it by introducing base classes `PeriodicTaskBase` and `FixedTimeslotTaskBase`.
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**Refactor PeriodicTaskIF**
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- Convert `virtual ReturnValue_t addComponent(object_id_t object)` to
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`virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode = 0)`, allowing to pass
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the operation code passed to `performOperation`. Updated API taking
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an `ExecutableObjectIF` accordingly
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**Refactor FixedTimeslotTaskIF**
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- Add additional `addSlot` function which takes an `ExecutableObjectIF` pointer and its Object ID
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**Refactor FixedSequenceSlot**
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- Introduce typedef `CustomCheckFunc` for `ReturnValue_t (*customCheckFunction)(const SlotList&)`.
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- Convert `ReturnValue_t (*customCheckFunction)(const SlotList&)` to
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`ReturnValue_t (*customCheckFunction)(const SlotList&, void*)`, allowing arbitrary user arguments
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for the custom checker
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**Linux Task Module**
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- Use composition instead of inheritance for the `PeriodicPosixTask` and make the `PosixTask` a
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member of the class
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### HAL
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### HAL
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- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
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- HAL Linux Uart: Baudrate and bits per word are enums now, avoiding misconfigurations
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@ -185,7 +185,7 @@ endif()
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message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
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message(STATUS "${MSG_PREFIX} Finding and/or providing ETL library")
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# Check whether the user has already installed ETL first
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# Check whether the user has already installed ETL first
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find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
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find_package(${FSFW_ETL_LIB_NAME} ${FSFW_ETL_LIB_MAJOR_VERSION} QUIET)
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# Not installed, so use FetchContent to download and provide etl
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# Not installed, so use FetchContent to download and provide etl
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if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
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if(NOT ${FSFW_ETL_LIB_NAME}_FOUND)
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message(
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message(
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@ -10,6 +10,10 @@
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#include "stm32h7xx_hal.h"
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#include "stm32h7xx_hal.h"
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#include "stm32h7xx_hal_spi.h"
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#include "stm32h7xx_hal_spi.h"
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#ifndef STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION
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#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
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#endif
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enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
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enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
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class GyroL3GD20H {
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class GyroL3GD20H {
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@ -1,27 +1,23 @@
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#include "fsfw/osal/freertos/FixedTimeslotTask.h"
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#include "fsfw/osal/freertos/FixedTimeslotTask.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
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FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
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FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod overallPeriod,
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TaskStackSize setStack, TaskPeriod period,
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void (*setDeadlineMissedFunc)())
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TaskDeadlineMissedFunction dlmFunc_)
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: started(false), handle(nullptr), pst(overallPeriod * 1000) {
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: FixedTimeslotTaskBase(period, dlmFunc_), started(false), handle(nullptr) {
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configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
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configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
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xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
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xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
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// All additional attributes are applied to the object.
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this->deadlineMissedFunc = setDeadlineMissedFunc;
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}
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}
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FixedTimeslotTask::~FixedTimeslotTask() {}
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FixedTimeslotTask::~FixedTimeslotTask() = default;
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void FixedTimeslotTask::taskEntryPoint(void* argument) {
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void FixedTimeslotTask::taskEntryPoint(void* argument) {
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// The argument is re-interpreted as FixedTimeslotTask. The Task object is
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// The argument is re-interpreted as FixedTimeslotTask. The Task object is
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// global, so it is found from any place.
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// global, so it is found from any place.
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FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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/* Task should not start until explicitly requested,
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/* Task should not start until explicitly requested,
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* but in FreeRTOS, tasks start as soon as they are created if the scheduler
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* but in FreeRTOS, tasks start as soon as they are created if the scheduler
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* is running but not if the scheduler is not running.
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* is running but not if the scheduler is not running.
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@ -32,26 +28,18 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
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* can continue */
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* can continue */
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if (not originalTask->started) {
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if (not originalTask->started) {
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vTaskSuspend(NULL);
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vTaskSuspend(nullptr);
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}
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}
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originalTask->taskFunctionality();
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originalTask->taskFunctionality();
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
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sif::debug << "Polling task " << originalTask->handle << " returned from taskFunctionality."
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<< std::endl;
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<< std::endl;
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#else
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sif::printDebug("Polling task returned from taskFunctionality\n");
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#endif
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#endif
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}
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}
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void FixedTimeslotTask::missedDeadlineCounter() {
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FixedTimeslotTask::deadlineMissedCount++;
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if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
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<< std::endl;
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#endif
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}
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}
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ReturnValue_t FixedTimeslotTask::startTask() {
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ReturnValue_t FixedTimeslotTask::startTask() {
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started = true;
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started = true;
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@ -63,31 +51,12 @@ ReturnValue_t FixedTimeslotTask::startTask() {
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
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[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
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int8_t executionStep) {
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ExecutableObjectIF* handler = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
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if (handler != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
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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 << " not found, not adding it to pst"
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<< std::endl;
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
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ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
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void FixedTimeslotTask::taskFunctionality() {
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// A local iterator for the Polling Sequence Table is created to find the
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// A local iterator for the Polling Sequence Table is created to find the
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// start time for the first entry.
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// start time for the first entry.
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auto slotListIter = pst.current;
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auto slotListIter = pollingSeqTable.current;
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pst.intializeSequenceAfterTaskCreation();
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pollingSeqTable.intializeSequenceAfterTaskCreation();
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// The start time for the first entry is read.
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// The start time for the first entry is read.
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uint32_t intervalMs = slotListIter->pollingTimeMs;
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uint32_t intervalMs = slotListIter->pollingTimeMs;
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@ -108,10 +77,10 @@ void FixedTimeslotTask::taskFunctionality() {
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/* Enter the loop that defines the task behavior. */
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/* Enter the loop that defines the task behavior. */
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for (;;) {
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for (;;) {
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// The component for this slot is executed and the next one is chosen.
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// The component for this slot is executed and the next one is chosen.
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this->pst.executeAndAdvance();
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this->pollingSeqTable.executeAndAdvance();
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if (not pst.slotFollowsImmediately()) {
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if (not pollingSeqTable.slotFollowsImmediately()) {
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// Get the interval till execution of the next slot.
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// Get the interval till execution of the next slot.
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intervalMs = this->pst.getIntervalToPreviousSlotMs();
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intervalMs = this->pollingSeqTable.getIntervalToPreviousSlotMs();
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interval = pdMS_TO_TICKS(intervalMs);
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interval = pdMS_TO_TICKS(intervalMs);
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#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
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#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
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@ -132,8 +101,8 @@ void FixedTimeslotTask::taskFunctionality() {
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}
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}
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void FixedTimeslotTask::handleMissedDeadline() {
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void FixedTimeslotTask::handleMissedDeadline() {
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if (deadlineMissedFunc != nullptr) {
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if (dlmFunc != nullptr) {
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this->deadlineMissedFunc();
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dlmFunc();
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}
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}
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}
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}
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@ -4,11 +4,11 @@
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#include "FreeRTOS.h"
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#include "FreeRTOS.h"
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#include "FreeRTOSTaskIF.h"
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#include "FreeRTOSTaskIF.h"
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#include "fsfw/tasks/FixedSlotSequence.h"
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#include "fsfw/tasks/FixedSlotSequence.h"
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#include "fsfw/tasks/FixedTimeslotTaskIF.h"
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#include "fsfw/tasks/FixedTimeslotTaskBase.h"
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#include "fsfw/tasks/Typedef.h"
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#include "fsfw/tasks/definitions.h"
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#include "task.h"
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#include "task.h"
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class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
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class FixedTimeslotTask : public FixedTimeslotTaskBase, public FreeRTOSTaskIF {
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public:
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public:
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/**
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/**
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* Keep in mind that you need to call before vTaskStartScheduler()!
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* Keep in mind that you need to call before vTaskStartScheduler()!
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@ -23,7 +23,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
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* @return Pointer to the newly created task.
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* @return Pointer to the newly created task.
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*/
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*/
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FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
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FixedTimeslotTask(TaskName name, TaskPriority setPriority, TaskStackSize setStack,
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TaskPeriod overallPeriod, void (*setDeadlineMissedFunc)());
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TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
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/**
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/**
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* @brief The destructor of the class.
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* @brief The destructor of the class.
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@ -32,26 +32,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
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* initialization for the PST and the device handlers. This is done by
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* initialization for the PST and the device handlers. This is done by
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* calling the PST's destructor.
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* calling the PST's destructor.
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*/
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*/
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virtual ~FixedTimeslotTask(void);
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~FixedTimeslotTask() override;
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ReturnValue_t startTask(void);
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ReturnValue_t startTask() override;
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/**
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* This static function can be used as #deadlineMissedFunc.
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* It counts missedDeadlines and prints the number of missed deadlines
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* every 10th time.
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*/
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static void missedDeadlineCounter();
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/**
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* A helper variable to count missed deadlines.
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*/
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static uint32_t deadlineMissedCount;
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
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int8_t executionStep) override;
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uint32_t getPeriodMs() const override;
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ReturnValue_t checkSequence() const override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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ReturnValue_t sleepFor(uint32_t ms) override;
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@ -61,17 +44,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
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bool started;
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bool started;
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TaskHandle_t handle;
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TaskHandle_t handle;
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FixedSlotSequence pst;
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/**
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* @brief This attribute holds a function pointer that is executed when
|
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* a deadline was missed.
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* @details
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* Another function may be announced to determine the actions to perform
|
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* when a deadline was missed. Currently, only one function for missing
|
|
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* any deadline is allowed. If not used, it shall be declared NULL.
|
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*/
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void (*deadlineMissedFunc)(void);
|
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/**
|
/**
|
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* @brief This is the entry point for a new task.
|
* @brief This is the entry point for a new task.
|
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* @details
|
* @details
|
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@ -88,7 +60,7 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
|
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* It links the functionalities provided by FixedSlotSequence with the
|
* It links the functionalities provided by FixedSlotSequence with the
|
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* OS's System Calls to keep the timing of the periods.
|
* OS's System Calls to keep the timing of the periods.
|
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*/
|
*/
|
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void taskFunctionality(void);
|
[[noreturn]] void taskFunctionality();
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|
|
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void handleMissedDeadline();
|
void handleMissedDeadline();
|
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};
|
};
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|
@ -6,11 +6,11 @@
|
|||||||
|
|
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class FreeRTOSTaskIF {
|
class FreeRTOSTaskIF {
|
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public:
|
public:
|
||||||
virtual ~FreeRTOSTaskIF() {}
|
virtual ~FreeRTOSTaskIF() = default;
|
||||||
virtual TaskHandle_t getTaskHandle() = 0;
|
virtual TaskHandle_t getTaskHandle() = 0;
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
|
static bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
|
||||||
/* Check whether deadline was missed while also taking overflows
|
/* Check whether deadline was missed while also taking overflows
|
||||||
* into account. Drawing this on paper with a timeline helps to understand
|
* into account. Drawing this on paper with a timeline helps to understand
|
||||||
* it. */
|
* it. */
|
||||||
|
@ -5,27 +5,28 @@
|
|||||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||||
|
|
||||||
PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
|
PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
|
||||||
TaskPeriod setPeriod, TaskDeadlineMissedFunction deadlineMissedFunc)
|
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
|
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: started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(deadlineMissedFunc) {
|
: PeriodicTaskBase(setPeriod, dlmFunc_), started(false), handle(nullptr) {
|
||||||
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
|
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
|
||||||
BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
|
BaseType_t status = xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
|
||||||
if (status != pdPASS) {
|
if (status != pdPASS) {
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
|
sif::debug << "PeriodicTask::PeriodicTask Insufficient heap memory remaining. Status: "
|
||||||
"Status: "
|
|
||||||
<< status << std::endl;
|
<< status << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printDebug("PeriodicTask::PeriodicTask: Insufficient heap memory remaining. Status: %d\n",
|
||||||
|
status);
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
PeriodicTask::~PeriodicTask(void) {
|
// Do not delete objects, we were responsible for ptrs only.
|
||||||
// Do not delete objects, we were responsible for ptrs only.
|
PeriodicTask::~PeriodicTask() = default;
|
||||||
}
|
|
||||||
|
|
||||||
void PeriodicTask::taskEntryPoint(void* argument) {
|
void PeriodicTask::taskEntryPoint(void* argument) {
|
||||||
// The argument is re-interpreted as PeriodicTask. The Task object is
|
// The argument is re-interpreted as PeriodicTask. The Task object is
|
||||||
// global, so it is found from any place.
|
// global, so it is found from any place.
|
||||||
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
||||||
/* Task should not start until explicitly requested,
|
/* Task should not start until explicitly requested,
|
||||||
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
|
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
|
||||||
* is running but not if the scheduler is not running.
|
* is running but not if the scheduler is not running.
|
||||||
@ -36,7 +37,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
|
|||||||
* can continue */
|
* can continue */
|
||||||
|
|
||||||
if (not originalTask->started) {
|
if (not originalTask->started) {
|
||||||
vTaskSuspend(NULL);
|
vTaskSuspend(nullptr);
|
||||||
}
|
}
|
||||||
|
|
||||||
originalTask->taskFunctionality();
|
originalTask->taskFunctionality();
|
||||||
@ -62,13 +63,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
|
|||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
void PeriodicTask::taskFunctionality() {
|
[[noreturn]] void PeriodicTask::taskFunctionality() {
|
||||||
TickType_t xLastWakeTime;
|
TickType_t xLastWakeTime;
|
||||||
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
|
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
|
||||||
|
|
||||||
for (auto const& object : objectList) {
|
initObjsAfterTaskCreation();
|
||||||
object->initializeAfterTaskCreation();
|
|
||||||
}
|
|
||||||
|
|
||||||
/* The xLastWakeTime variable needs to be initialized with the current tick
|
/* The xLastWakeTime variable needs to be initialized with the current tick
|
||||||
count. Note that this is the only time the variable is written to
|
count. Note that this is the only time the variable is written to
|
||||||
@ -77,8 +76,8 @@ void PeriodicTask::taskFunctionality() {
|
|||||||
xLastWakeTime = xTaskGetTickCount();
|
xLastWakeTime = xTaskGetTickCount();
|
||||||
/* Enter the loop that defines the task behavior. */
|
/* Enter the loop that defines the task behavior. */
|
||||||
for (;;) {
|
for (;;) {
|
||||||
for (auto const& object : objectList) {
|
for (auto const& objectPair : objectList) {
|
||||||
object->performOperation();
|
objectPair.first->performOperation(objectPair.second);
|
||||||
}
|
}
|
||||||
|
|
||||||
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
|
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || tskKERNEL_VERSION_MAJOR > 10
|
||||||
@ -95,32 +94,10 @@ void PeriodicTask::taskFunctionality() {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
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) {
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
|
|
||||||
"it implement ExecutableObjectIF"
|
|
||||||
<< std::endl;
|
|
||||||
#endif
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
objectList.push_back(object);
|
|
||||||
object->setTaskIF(this);
|
|
||||||
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
uint32_t PeriodicTask::getPeriodMs() const { return period * 1000; }
|
|
||||||
|
|
||||||
TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
|
TaskHandle_t PeriodicTask::getTaskHandle() { return handle; }
|
||||||
|
|
||||||
void PeriodicTask::handleMissedDeadline() {
|
void PeriodicTask::handleMissedDeadline() {
|
||||||
if (deadlineMissedFunc != nullptr) {
|
if (dlmFunc != nullptr) {
|
||||||
this->deadlineMissedFunc();
|
dlmFunc();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -6,8 +6,8 @@
|
|||||||
#include "FreeRTOS.h"
|
#include "FreeRTOS.h"
|
||||||
#include "FreeRTOSTaskIF.h"
|
#include "FreeRTOSTaskIF.h"
|
||||||
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||||
#include "fsfw/tasks/PeriodicTaskIF.h"
|
#include "fsfw/tasks/PeriodicTaskBase.h"
|
||||||
#include "fsfw/tasks/Typedef.h"
|
#include "fsfw/tasks/definitions.h"
|
||||||
#include "task.h"
|
#include "task.h"
|
||||||
|
|
||||||
class ExecutableObjectIF;
|
class ExecutableObjectIF;
|
||||||
@ -17,7 +17,7 @@ class ExecutableObjectIF;
|
|||||||
* periodic activities of multiple objects.
|
* periodic activities of multiple objects.
|
||||||
* @ingroup task_handling
|
* @ingroup task_handling
|
||||||
*/
|
*/
|
||||||
class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
|
class PeriodicTask : public PeriodicTaskBase, public FreeRTOSTaskIF {
|
||||||
public:
|
public:
|
||||||
/**
|
/**
|
||||||
* Keep in Mind that you need to call before this vTaskStartScheduler()!
|
* Keep in Mind that you need to call before this vTaskStartScheduler()!
|
||||||
@ -43,7 +43,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
|
|||||||
* @brief Currently, the executed object's lifetime is not coupled with
|
* @brief Currently, the executed object's lifetime is not coupled with
|
||||||
* the task object's lifetime, so the destructor is empty.
|
* the task object's lifetime, so the destructor is empty.
|
||||||
*/
|
*/
|
||||||
virtual ~PeriodicTask(void);
|
~PeriodicTask() override;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief The method to start the task.
|
* @brief The method to start the task.
|
||||||
@ -53,27 +53,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
|
|||||||
* to the system call.
|
* to the system call.
|
||||||
*/
|
*/
|
||||||
ReturnValue_t startTask() override;
|
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 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) override;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* 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(ExecutableObjectIF* object) override;
|
|
||||||
|
|
||||||
uint32_t getPeriodMs() const override;
|
|
||||||
|
|
||||||
ReturnValue_t sleepFor(uint32_t ms) override;
|
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||||
|
|
||||||
@ -83,28 +62,6 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
|
|||||||
bool started;
|
bool started;
|
||||||
TaskHandle_t handle;
|
TaskHandle_t handle;
|
||||||
|
|
||||||
//! Typedef for the List of objects.
|
|
||||||
typedef std::vector<ExecutableObjectIF*> ObjectList;
|
|
||||||
/**
|
|
||||||
* @brief This attribute holds a list of objects to be executed.
|
|
||||||
*/
|
|
||||||
ObjectList objectList;
|
|
||||||
/**
|
|
||||||
* @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.
|
* @brief This is the function executed in the new task's context.
|
||||||
* @details
|
* @details
|
||||||
@ -125,7 +82,7 @@ class PeriodicTask : public PeriodicTaskIF, public FreeRTOSTaskIF {
|
|||||||
* the next period.
|
* the next period.
|
||||||
* On missing the deadline, the deadlineMissedFunction is executed.
|
* On missing the deadline, the deadlineMissedFunction is executed.
|
||||||
*/
|
*/
|
||||||
void taskFunctionality(void);
|
[[noreturn]] void taskFunctionality();
|
||||||
|
|
||||||
void handleMissedDeadline();
|
void handleMissedDeadline();
|
||||||
};
|
};
|
||||||
|
@ -3,9 +3,7 @@
|
|||||||
#include <chrono>
|
#include <chrono>
|
||||||
#include <thread>
|
#include <thread>
|
||||||
|
|
||||||
#include "fsfw/ipc/MutexFactory.h"
|
|
||||||
#include "fsfw/objectmanager/ObjectManager.h"
|
#include "fsfw/objectmanager/ObjectManager.h"
|
||||||
#include "fsfw/osal/host/FixedTimeslotTask.h"
|
|
||||||
#include "fsfw/osal/host/Mutex.h"
|
#include "fsfw/osal/host/Mutex.h"
|
||||||
#include "fsfw/osal/host/taskHelpers.h"
|
#include "fsfw/osal/host/taskHelpers.h"
|
||||||
#include "fsfw/platform.h"
|
#include "fsfw/platform.h"
|
||||||
@ -22,12 +20,8 @@
|
|||||||
|
|
||||||
FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
|
FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
|
||||||
TaskStackSize setStack, TaskPeriod setPeriod,
|
TaskStackSize setStack, TaskPeriod setPeriod,
|
||||||
void (*setDeadlineMissedFunc)())
|
TaskDeadlineMissedFunction dlmFunc_)
|
||||||
: started(false),
|
: FixedTimeslotTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
|
||||||
pollingSeqTable(setPeriod * 1000),
|
|
||||||
taskName(name),
|
|
||||||
period(setPeriod),
|
|
||||||
deadlineMissedFunc(setDeadlineMissedFunc) {
|
|
||||||
// It is propably possible to set task priorities by using the native
|
// It is propably possible to set task priorities by using the native
|
||||||
// task handles for Windows / Linux
|
// task handles for Windows / Linux
|
||||||
mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
|
mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
|
||||||
@ -39,7 +33,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char* name, TaskPriority setPriority,
|
|||||||
tasks::insertTaskName(mainThread.get_id(), taskName);
|
tasks::insertTaskName(mainThread.get_id(), taskName);
|
||||||
}
|
}
|
||||||
|
|
||||||
FixedTimeslotTask::~FixedTimeslotTask(void) {
|
FixedTimeslotTask::~FixedTimeslotTask() {
|
||||||
// Do not delete objects, we were responsible for ptrs only.
|
// Do not delete objects, we were responsible for ptrs only.
|
||||||
terminateThread = true;
|
terminateThread = true;
|
||||||
if (mainThread.joinable()) {
|
if (mainThread.joinable()) {
|
||||||
@ -48,7 +42,7 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void FixedTimeslotTask::taskEntryPoint(void* argument) {
|
void FixedTimeslotTask::taskEntryPoint(void* argument) {
|
||||||
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
|
auto* originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
|
||||||
|
|
||||||
if (not originalTask->started) {
|
if (not originalTask->started) {
|
||||||
// we have to suspend/block here until the task is started.
|
// we have to suspend/block here until the task is started.
|
||||||
@ -81,7 +75,9 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void FixedTimeslotTask::taskFunctionality() {
|
void FixedTimeslotTask::taskFunctionality() {
|
||||||
pollingSeqTable.intializeSequenceAfterTaskCreation();
|
ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
|
||||||
|
// Ignore returnvalue for now
|
||||||
|
static_cast<void>(result);
|
||||||
|
|
||||||
// A local iterator for the Polling Sequence Table is created to
|
// A local iterator for the Polling Sequence Table is created to
|
||||||
// find the start time for the first entry.
|
// find the start time for the first entry.
|
||||||
@ -106,37 +102,15 @@ void FixedTimeslotTask::taskFunctionality() {
|
|||||||
// we need to wait before executing the current slot
|
// we need to wait before executing the current slot
|
||||||
// this gives us the time to wait:
|
// this gives us the time to wait:
|
||||||
interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
|
interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
|
||||||
delayForInterval(¤tStartTime, interval);
|
if (not delayForInterval(¤tStartTime, interval)) {
|
||||||
// TODO deadline missed check
|
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);
|
|
||||||
if (executableObject != nullptr) {
|
|
||||||
pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, executableObject, this);
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::error << "Component " << std::hex << "0x" << componentId
|
|
||||||
<< "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",
|
|
||||||
static_cast<unsigned int>(componentId));
|
|
||||||
#endif
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pollingSeqTable.checkSequence(); }
|
|
||||||
|
|
||||||
uint32_t FixedTimeslotTask::getPeriodMs() const { return period * 1000; }
|
|
||||||
|
|
||||||
bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
|
bool FixedTimeslotTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
|
||||||
bool shouldDelay = false;
|
bool shouldDelay = false;
|
||||||
// Get current wakeup time
|
// Get current wakeup time
|
||||||
|
@ -6,10 +6,10 @@
|
|||||||
#include <thread>
|
#include <thread>
|
||||||
#include <vector>
|
#include <vector>
|
||||||
|
|
||||||
#include "../../objectmanager/ObjectManagerIF.h"
|
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||||
#include "../../tasks/FixedSlotSequence.h"
|
#include "fsfw/tasks/FixedSlotSequence.h"
|
||||||
#include "../../tasks/FixedTimeslotTaskIF.h"
|
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
|
||||||
#include "../../tasks/Typedef.h"
|
#include "fsfw/tasks/definitions.h"
|
||||||
|
|
||||||
class ExecutableObjectIF;
|
class ExecutableObjectIF;
|
||||||
|
|
||||||
@ -19,7 +19,7 @@ class ExecutableObjectIF;
|
|||||||
* @details
|
* @details
|
||||||
* @ingroup task_handling
|
* @ingroup task_handling
|
||||||
*/
|
*/
|
||||||
class FixedTimeslotTask : public FixedTimeslotTaskIF {
|
class FixedTimeslotTask : public FixedTimeslotTaskBase {
|
||||||
public:
|
public:
|
||||||
/**
|
/**
|
||||||
* @brief Standard constructor of the class.
|
* @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
|
* @brief Currently, the executed object's lifetime is not coupled with
|
||||||
* the task object's lifetime, so the destructor is empty.
|
* the task object's lifetime, so the destructor is empty.
|
||||||
*/
|
*/
|
||||||
virtual ~FixedTimeslotTask(void);
|
~FixedTimeslotTask() override;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief The method to start the task.
|
* @brief The method to start the task.
|
||||||
@ -48,56 +48,22 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
|
|||||||
* The address of the task object is passed as an argument
|
* The address of the task object is passed as an argument
|
||||||
* to the system call.
|
* to the system call.
|
||||||
*/
|
*/
|
||||||
ReturnValue_t startTask(void);
|
ReturnValue_t startTask() override;
|
||||||
|
|
||||||
/**
|
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||||
* Add timeslot to the polling sequence table.
|
|
||||||
* @param componentId
|
|
||||||
* @param slotTimeMs
|
|
||||||
* @param executionStep
|
|
||||||
* @return
|
|
||||||
*/
|
|
||||||
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
|
|
||||||
|
|
||||||
ReturnValue_t checkSequence() const override;
|
|
||||||
|
|
||||||
uint32_t getPeriodMs() const;
|
|
||||||
|
|
||||||
ReturnValue_t sleepFor(uint32_t ms);
|
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
using chron_ms = std::chrono::milliseconds;
|
using chron_ms = std::chrono::milliseconds;
|
||||||
|
|
||||||
bool started;
|
bool started;
|
||||||
//!< Typedef for the List of objects.
|
|
||||||
typedef std::vector<ExecutableObjectIF*> ObjectList;
|
|
||||||
std::thread mainThread;
|
std::thread mainThread;
|
||||||
std::atomic<bool> terminateThread{false};
|
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::condition_variable initCondition;
|
||||||
std::mutex initMutex;
|
std::mutex initMutex;
|
||||||
std::string taskName;
|
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.
|
* @brief This is the function executed in the new task's context.
|
||||||
* @details
|
* @details
|
||||||
@ -117,9 +83,9 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF {
|
|||||||
* the checkAndRestartPeriod system call blocks the task until the next
|
* the checkAndRestartPeriod system call blocks the task until the next
|
||||||
* period. On missing the deadline, the deadlineMissedFunction is executed.
|
* 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 /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
|
#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
|
||||||
|
@ -3,13 +3,10 @@
|
|||||||
#include <chrono>
|
#include <chrono>
|
||||||
#include <thread>
|
#include <thread>
|
||||||
|
|
||||||
#include "fsfw/ipc/MutexFactory.h"
|
|
||||||
#include "fsfw/objectmanager/ObjectManager.h"
|
|
||||||
#include "fsfw/osal/host/Mutex.h"
|
#include "fsfw/osal/host/Mutex.h"
|
||||||
#include "fsfw/osal/host/taskHelpers.h"
|
#include "fsfw/osal/host/taskHelpers.h"
|
||||||
#include "fsfw/platform.h"
|
#include "fsfw/platform.h"
|
||||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
|
||||||
|
|
||||||
#if defined(PLATFORM_WIN)
|
#if defined(PLATFORM_WIN)
|
||||||
#include <processthreadsapi.h>
|
#include <processthreadsapi.h>
|
||||||
@ -20,8 +17,8 @@
|
|||||||
#endif
|
#endif
|
||||||
|
|
||||||
PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
|
PeriodicTask::PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
|
||||||
TaskPeriod setPeriod, void (*setDeadlineMissedFunc)())
|
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
|
||||||
: started(false), taskName(name), period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
|
: PeriodicTaskBase(setPeriod, dlmFunc_), started(false), taskName(name) {
|
||||||
// It is probably possible to set task priorities by using the native
|
// It is probably possible to set task priorities by using the native
|
||||||
// task handles for Windows / Linux
|
// task handles for Windows / Linux
|
||||||
mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
|
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);
|
tasks::insertTaskName(mainThread.get_id(), taskName);
|
||||||
}
|
}
|
||||||
|
|
||||||
PeriodicTask::~PeriodicTask(void) {
|
PeriodicTask::~PeriodicTask() {
|
||||||
// Do not delete objects, we were responsible for ptrs only.
|
// Do not delete objects, we were responsible for ptrs only.
|
||||||
terminateThread = true;
|
terminateThread = true;
|
||||||
if (mainThread.joinable()) {
|
if (mainThread.joinable()) {
|
||||||
@ -42,7 +39,7 @@ PeriodicTask::~PeriodicTask(void) {
|
|||||||
}
|
}
|
||||||
|
|
||||||
void PeriodicTask::taskEntryPoint(void* argument) {
|
void PeriodicTask::taskEntryPoint(void* argument) {
|
||||||
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
||||||
|
|
||||||
if (not originalTask->started) {
|
if (not originalTask->started) {
|
||||||
// we have to suspend/block here until the task is 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() {
|
void PeriodicTask::taskFunctionality() {
|
||||||
for (const auto& object : objectList) {
|
initObjsAfterTaskCreation();
|
||||||
object->initializeAfterTaskCreation();
|
|
||||||
}
|
|
||||||
|
|
||||||
std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
|
std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period * 1000));
|
||||||
auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
|
auto currentStartTime{std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||||
std::chrono::system_clock::now().time_since_epoch())};
|
std::chrono::system_clock::now().time_since_epoch())};
|
||||||
auto nextStartTime{currentStartTime};
|
|
||||||
|
|
||||||
/* Enter the loop that defines the task behavior. */
|
/* Enter the loop that defines the task behavior. */
|
||||||
for (;;) {
|
for (;;) {
|
||||||
if (terminateThread.load()) {
|
if (terminateThread.load()) {
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
for (const auto& object : objectList) {
|
for (const auto& objectPair : objectList) {
|
||||||
object->performOperation();
|
objectPair.first->performOperation(objectPair.second);
|
||||||
}
|
}
|
||||||
if (not delayForInterval(¤tStartTime, periodChrono)) {
|
if (not delayForInterval(¤tStartTime, periodChrono)) {
|
||||||
if (deadlineMissedFunc != nullptr) {
|
if (dlmFunc != nullptr) {
|
||||||
this->deadlineMissedFunc();
|
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 PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs, const chron_ms interval) {
|
||||||
bool shouldDelay = false;
|
bool shouldDelay = false;
|
||||||
// Get current wakeup time
|
// Get current wakeup time
|
||||||
|
@ -6,9 +6,9 @@
|
|||||||
#include <thread>
|
#include <thread>
|
||||||
#include <vector>
|
#include <vector>
|
||||||
|
|
||||||
#include "../../objectmanager/ObjectManagerIF.h"
|
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||||
#include "../../tasks/PeriodicTaskIF.h"
|
#include "fsfw/tasks/PeriodicTaskBase.h"
|
||||||
#include "../../tasks/Typedef.h"
|
#include "fsfw/tasks/definitions.h"
|
||||||
|
|
||||||
class ExecutableObjectIF;
|
class ExecutableObjectIF;
|
||||||
|
|
||||||
@ -19,7 +19,7 @@ class ExecutableObjectIF;
|
|||||||
*
|
*
|
||||||
* @ingroup task_handling
|
* @ingroup task_handling
|
||||||
*/
|
*/
|
||||||
class PeriodicTask : public PeriodicTaskIF {
|
class PeriodicTask : public PeriodicTaskBase {
|
||||||
public:
|
public:
|
||||||
/**
|
/**
|
||||||
* @brief Standard constructor of the class.
|
* @brief Standard constructor of the class.
|
||||||
@ -34,12 +34,12 @@ class PeriodicTask : public PeriodicTaskIF {
|
|||||||
* assigned.
|
* assigned.
|
||||||
*/
|
*/
|
||||||
PeriodicTask(const char* name, TaskPriority setPriority, TaskStackSize setStack,
|
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
|
* @brief Currently, the executed object's lifetime is not coupled with
|
||||||
* the task object's lifetime, so the destructor is empty.
|
* the task object's lifetime, so the destructor is empty.
|
||||||
*/
|
*/
|
||||||
virtual ~PeriodicTask(void);
|
~PeriodicTask() override;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief The method to start the task.
|
* @brief The method to start the task.
|
||||||
@ -48,63 +48,20 @@ class PeriodicTask : public PeriodicTaskIF {
|
|||||||
* The address of the task object is passed as an argument
|
* The address of the task object is passed as an argument
|
||||||
* to the system call.
|
* to the system call.
|
||||||
*/
|
*/
|
||||||
ReturnValue_t startTask(void);
|
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 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 sleepFor(uint32_t ms) 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);
|
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
using chron_ms = std::chrono::milliseconds;
|
using chron_ms = std::chrono::milliseconds;
|
||||||
bool started;
|
bool started;
|
||||||
//!< Typedef for the List of objects.
|
|
||||||
typedef std::vector<ExecutableObjectIF*> ObjectList;
|
|
||||||
std::thread mainThread;
|
std::thread mainThread;
|
||||||
std::atomic<bool> terminateThread{false};
|
std::atomic<bool> terminateThread{false};
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief This attribute holds a list of objects to be executed.
|
|
||||||
*/
|
|
||||||
ObjectList objectList;
|
|
||||||
|
|
||||||
std::condition_variable initCondition;
|
std::condition_variable initCondition;
|
||||||
std::mutex initMutex;
|
std::mutex initMutex;
|
||||||
std::string taskName;
|
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.
|
* @brief This is the function executed in the new task's context.
|
||||||
* @details
|
* @details
|
||||||
@ -124,9 +81,9 @@ class PeriodicTask : public PeriodicTaskIF {
|
|||||||
* the checkAndRestartPeriod system call blocks the task until the next
|
* the checkAndRestartPeriod system call blocks the task until the next
|
||||||
* period. On missing the deadline, the deadlineMissedFunction is executed.
|
* 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_ */
|
||||||
|
@ -14,9 +14,9 @@ TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
|
|||||||
// Not used for the host implementation for now because C++ thread abstraction is used
|
// Not used for the host implementation for now because C++ thread abstraction is used
|
||||||
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
|
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
|
||||||
|
|
||||||
TaskFactory::TaskFactory() {}
|
TaskFactory::TaskFactory() = default;
|
||||||
|
|
||||||
TaskFactory::~TaskFactory() {}
|
TaskFactory::~TaskFactory() = default;
|
||||||
|
|
||||||
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
|
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
|
||||||
|
|
||||||
|
@ -6,7 +6,7 @@
|
|||||||
std::mutex nameMapLock;
|
std::mutex nameMapLock;
|
||||||
std::map<std::thread::id, std::string> taskNameMap;
|
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);
|
std::lock_guard<std::mutex> lg(nameMapLock);
|
||||||
auto returnPair = taskNameMap.emplace(threadId, taskName);
|
auto returnPair = taskNameMap.emplace(threadId, taskName);
|
||||||
if (not returnPair.second) {
|
if (not returnPair.second) {
|
||||||
|
@ -7,7 +7,7 @@
|
|||||||
|
|
||||||
namespace tasks {
|
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);
|
std::string getTaskName(std::thread::id threadId);
|
||||||
|
|
||||||
} // namespace tasks
|
} // namespace tasks
|
||||||
|
@ -1,22 +1,20 @@
|
|||||||
#include "fsfw/osal/linux/FixedTimeslotTask.h"
|
#include "fsfw/osal/linux/FixedTimeslotTask.h"
|
||||||
|
|
||||||
#include <limits.h>
|
#include <climits>
|
||||||
|
|
||||||
#include "fsfw/objectmanager/ObjectManager.h"
|
|
||||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||||
|
|
||||||
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
|
|
||||||
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
|
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
|
||||||
|
|
||||||
FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
|
FixedTimeslotTask::FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
|
||||||
uint32_t periodMs_)
|
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_)
|
||||||
: PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
|
: FixedTimeslotTaskBase(periodSeconds_, dlmFunc_),
|
||||||
|
posixThread(name_, priority_, stackSize_),
|
||||||
FixedTimeslotTask::~FixedTimeslotTask() {}
|
started(false) {}
|
||||||
|
|
||||||
void* FixedTimeslotTask::taskEntryPoint(void* arg) {
|
void* FixedTimeslotTask::taskEntryPoint(void* arg) {
|
||||||
// The argument is re-interpreted as PollingTask.
|
// 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.
|
// The task's functionality is called.
|
||||||
originalTask->taskFunctionality();
|
originalTask->taskFunctionality();
|
||||||
return nullptr;
|
return nullptr;
|
||||||
@ -24,7 +22,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
|
|||||||
|
|
||||||
ReturnValue_t FixedTimeslotTask::startTask() {
|
ReturnValue_t FixedTimeslotTask::startTask() {
|
||||||
started = true;
|
started = true;
|
||||||
createTask(&taskEntryPoint, this);
|
posixThread.createTask(&taskEntryPoint, this);
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -32,63 +30,36 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
|
|||||||
return PosixThread::sleep((uint64_t)ms * 1000000);
|
return PosixThread::sleep((uint64_t)ms * 1000000);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
|
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
|
||||||
|
|
||||||
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() const { return pst.checkSequence(); }
|
|
||||||
|
|
||||||
void FixedTimeslotTask::taskFunctionality() {
|
|
||||||
// Like FreeRTOS pthreads are running as soon as they are created
|
// Like FreeRTOS pthreads are running as soon as they are created
|
||||||
if (!started) {
|
if (!started) {
|
||||||
suspend();
|
posixThread.suspend();
|
||||||
}
|
}
|
||||||
|
|
||||||
pst.intializeSequenceAfterTaskCreation();
|
// Returnvalue ignored for now
|
||||||
|
static_cast<void>(pollingSeqTable.intializeSequenceAfterTaskCreation());
|
||||||
|
|
||||||
// The start time for the first entry is read.
|
// The start time for the first entry is read.
|
||||||
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
|
uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
|
||||||
uint64_t interval = pst.getIntervalToNextSlotMs();
|
uint32_t interval = 0;
|
||||||
|
|
||||||
// The task's "infinite" inner loop is entered.
|
// The task's "infinite" inner loop is entered.
|
||||||
while (1) {
|
while (true) {
|
||||||
if (pst.slotFollowsImmediately()) {
|
if (pollingSeqTable.slotFollowsImmediately()) {
|
||||||
// Do nothing
|
// Do nothing
|
||||||
} else {
|
} else {
|
||||||
// The interval for the next polling slot is selected.
|
// 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.
|
// The period is checked and restarted with the new interval.
|
||||||
// If the deadline was missed, the deadlineMissedFunc is called.
|
// If the deadline was missed, the deadlineMissedFunc is called.
|
||||||
if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
|
if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
|
||||||
// No time left on timer -> we missed the deadline
|
// No time left on timer -> we missed the deadline
|
||||||
missedDeadlineCounter();
|
if(dlmFunc != nullptr){
|
||||||
|
dlmFunc();
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
// The device handler for this slot is executed and the next one is chosen.
|
// The device handler for this slot is executed and the next one is chosen.
|
||||||
this->pst.executeAndAdvance();
|
pollingSeqTable.executeAndAdvance();
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
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
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -3,11 +3,12 @@
|
|||||||
|
|
||||||
#include <pthread.h>
|
#include <pthread.h>
|
||||||
|
|
||||||
#include "../../tasks/FixedSlotSequence.h"
|
|
||||||
#include "../../tasks/FixedTimeslotTaskIF.h"
|
|
||||||
#include "PosixThread.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:
|
public:
|
||||||
/**
|
/**
|
||||||
* Create a generic periodic task.
|
* Create a generic periodic task.
|
||||||
@ -21,29 +22,13 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
|
|||||||
* @param period_
|
* @param period_
|
||||||
* @param deadlineMissedFunc_
|
* @param deadlineMissedFunc_
|
||||||
*/
|
*/
|
||||||
FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
|
FixedTimeslotTask(const char* name_, TaskPriority priority_, size_t stackSize_,
|
||||||
virtual ~FixedTimeslotTask();
|
TaskPeriod periodSeconds_, TaskDeadlineMissedFunction dlmFunc_);
|
||||||
|
~FixedTimeslotTask() override = default;
|
||||||
|
|
||||||
virtual ReturnValue_t startTask();
|
ReturnValue_t startTask() override;
|
||||||
|
|
||||||
virtual ReturnValue_t sleepFor(uint32_t ms);
|
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||||
|
|
||||||
virtual uint32_t getPeriodMs() const;
|
|
||||||
|
|
||||||
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
|
|
||||||
|
|
||||||
virtual ReturnValue_t checkSequence() const;
|
|
||||||
|
|
||||||
/**
|
|
||||||
* 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;
|
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
/**
|
/**
|
||||||
@ -53,9 +38,12 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
|
|||||||
* It links the functionalities provided by FixedSlotSequence with the
|
* It links the functionalities provided by FixedSlotSequence with the
|
||||||
* OS's System Calls to keep the timing of the periods.
|
* OS's System Calls to keep the timing of the periods.
|
||||||
*/
|
*/
|
||||||
virtual void taskFunctionality();
|
[[noreturn]] virtual void taskFunctionality();
|
||||||
|
|
||||||
private:
|
private:
|
||||||
|
PosixThread posixThread;
|
||||||
|
bool started;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief This is the entry point in a new thread.
|
* @brief This is the entry point in a new thread.
|
||||||
*
|
*
|
||||||
@ -68,9 +56,6 @@ class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
|
|||||||
* arbitrary data.
|
* arbitrary data.
|
||||||
*/
|
*/
|
||||||
static void* taskEntryPoint(void* arg);
|
static void* taskEntryPoint(void* arg);
|
||||||
FixedSlotSequence pst;
|
|
||||||
|
|
||||||
bool started;
|
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
|
#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
|
||||||
|
@ -1,86 +1,54 @@
|
|||||||
#include "fsfw/osal/linux/PeriodicPosixTask.h"
|
#include "PeriodicPosixTask.h"
|
||||||
|
|
||||||
#include <errno.h>
|
#include "fsfw/serviceinterface.h"
|
||||||
|
|
||||||
#include "fsfw/objectmanager/ObjectManager.h"
|
|
||||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
|
||||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||||
|
|
||||||
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
|
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
|
||||||
uint32_t period_, void(deadlineMissedFunc_)())
|
TaskPeriod period_, TaskDeadlineMissedFunction dlmFunc_)
|
||||||
: PosixThread(name_, priority_, stackSize_),
|
: PeriodicTaskBase(period_, dlmFunc_),
|
||||||
objectList(),
|
posixThread(name_, priority_, stackSize_),
|
||||||
started(false),
|
started(false) {}
|
||||||
periodMs(period_),
|
|
||||||
deadlineMissedFunc(deadlineMissedFunc_) {}
|
|
||||||
|
|
||||||
PeriodicPosixTask::~PeriodicPosixTask() {
|
|
||||||
// Not Implemented
|
|
||||||
}
|
|
||||||
|
|
||||||
void* PeriodicPosixTask::taskEntryPoint(void* arg) {
|
void* PeriodicPosixTask::taskEntryPoint(void* arg) {
|
||||||
// The argument is re-interpreted as PollingTask.
|
// 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.
|
// The task's functionality is called.
|
||||||
originalTask->taskFunctionality();
|
originalTask->taskFunctionality();
|
||||||
return NULL;
|
return nullptr;
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
|
|
||||||
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
|
|
||||||
return addComponent(newObject);
|
|
||||||
}
|
|
||||||
|
|
||||||
ReturnValue_t PeriodicPosixTask::addComponent(ExecutableObjectIF* object) {
|
|
||||||
if (object == nullptr) {
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
||||||
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
|
|
||||||
<< " it implements ExecutableObjectIF!" << std::endl;
|
|
||||||
#else
|
|
||||||
sif::printError(
|
|
||||||
"PeriodicTask::addComponent: Invalid object. Make sure it "
|
|
||||||
"implements ExecutableObjectIF!\n");
|
|
||||||
#endif
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
objectList.push_back(object);
|
|
||||||
object->setTaskIF(this);
|
|
||||||
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
|
ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
|
||||||
return PosixThread::sleep((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;
|
started = true;
|
||||||
PosixThread::createTask(&taskEntryPoint, this);
|
posixThread.createTask(&taskEntryPoint, this);
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
void PeriodicPosixTask::taskFunctionality(void) {
|
[[noreturn]] void PeriodicPosixTask::taskFunctionality() {
|
||||||
if (not started) {
|
if (not started) {
|
||||||
suspend();
|
posixThread.suspend();
|
||||||
}
|
}
|
||||||
|
|
||||||
for (auto const& object : objectList) {
|
initObjsAfterTaskCreation();
|
||||||
object->initializeAfterTaskCreation();
|
|
||||||
}
|
|
||||||
|
|
||||||
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
|
uint64_t lastWakeTime = PosixThread::getCurrentMonotonicTimeMs();
|
||||||
|
uint64_t periodMs = getPeriodMs();
|
||||||
// The task's "infinite" inner loop is entered.
|
// The task's "infinite" inner loop is entered.
|
||||||
while (1) {
|
while (true) {
|
||||||
for (auto const& object : objectList) {
|
for (auto const& objOpCodePair : objectList) {
|
||||||
object->performOperation();
|
objOpCodePair.first->performOperation(objOpCodePair.second);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
|
if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
|
||||||
if (this->deadlineMissedFunc != nullptr) {
|
if (dlmFunc != nullptr) {
|
||||||
this->deadlineMissedFunc();
|
dlmFunc();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }
|
|
||||||
|
@ -3,12 +3,13 @@
|
|||||||
|
|
||||||
#include <vector>
|
#include <vector>
|
||||||
|
|
||||||
#include "../../objectmanager/ObjectManagerIF.h"
|
|
||||||
#include "../../tasks/ExecutableObjectIF.h"
|
|
||||||
#include "../../tasks/PeriodicTaskIF.h"
|
|
||||||
#include "PosixThread.h"
|
#include "PosixThread.h"
|
||||||
|
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||||
|
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||||
|
#include "fsfw/tasks/PeriodicTaskBase.h"
|
||||||
|
#include "fsfw/tasks/PeriodicTaskIF.h"
|
||||||
|
|
||||||
class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
|
class PeriodicPosixTask : public PeriodicTaskBase {
|
||||||
public:
|
public:
|
||||||
/**
|
/**
|
||||||
* Create a generic periodic task.
|
* Create a generic periodic task.
|
||||||
@ -22,9 +23,9 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
|
|||||||
* @param period_
|
* @param period_
|
||||||
* @param deadlineMissedFunc_
|
* @param deadlineMissedFunc_
|
||||||
*/
|
*/
|
||||||
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
|
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, TaskPeriod period_,
|
||||||
void (*deadlineMissedFunc_)());
|
TaskDeadlineMissedFunction dlmFunc_);
|
||||||
virtual ~PeriodicPosixTask();
|
~PeriodicPosixTask() override = default;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief The method to start the task.
|
* @brief The method to start the task.
|
||||||
@ -34,42 +35,17 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
|
|||||||
* to the system call.
|
* to the system call.
|
||||||
*/
|
*/
|
||||||
ReturnValue_t startTask() override;
|
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 Id of the object to add.
|
|
||||||
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
|
|
||||||
*/
|
|
||||||
ReturnValue_t addComponent(object_id_t object) 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 RETURN_OK on success, RETURN_FAILED if the object could not be added.
|
|
||||||
*/
|
|
||||||
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
|
|
||||||
|
|
||||||
uint32_t getPeriodMs() const override;
|
|
||||||
|
|
||||||
ReturnValue_t sleepFor(uint32_t ms) override;
|
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||||
|
|
||||||
private:
|
private:
|
||||||
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
|
PosixThread posixThread;
|
||||||
/**
|
|
||||||
* @brief This attribute holds a list of objects to be executed.
|
|
||||||
*/
|
|
||||||
ObjectList objectList;
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief Flag to indicate that the task was started and is allowed to run
|
* @brief Flag to indicate that the task was started and is allowed to run
|
||||||
*/
|
*/
|
||||||
bool started;
|
bool started;
|
||||||
|
|
||||||
/**
|
|
||||||
* @brief Period of the task in milliseconds
|
|
||||||
*/
|
|
||||||
uint32_t periodMs;
|
|
||||||
/**
|
/**
|
||||||
* @brief The function containing the actual functionality of the task.
|
* @brief The function containing the actual functionality of the task.
|
||||||
* @details The method sets and starts
|
* @details The method sets and starts
|
||||||
@ -78,7 +54,7 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
|
|||||||
* will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
|
* will be blocked until the next period. On missing the deadline, the deadlineMissedFunction is
|
||||||
* executed.
|
* executed.
|
||||||
*/
|
*/
|
||||||
virtual void taskFunctionality(void);
|
[[noreturn]] virtual void taskFunctionality();
|
||||||
/**
|
/**
|
||||||
* @brief This is the entry point in a new thread.
|
* @brief This is the entry point in a new thread.
|
||||||
*
|
*
|
||||||
@ -86,14 +62,6 @@ class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
|
|||||||
* of the child class. Needs a valid pointer to the derived class.
|
* of the child class. Needs a valid pointer to the derived class.
|
||||||
*/
|
*/
|
||||||
static void* taskEntryPoint(void* arg);
|
static void* taskEntryPoint(void* arg);
|
||||||
/**
|
|
||||||
* @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)();
|
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */
|
#endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */
|
||||||
|
@ -35,6 +35,21 @@ class PosixThread {
|
|||||||
*/
|
*/
|
||||||
void resume();
|
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
|
* Delay function similar to FreeRtos delayUntil function
|
||||||
*
|
*
|
||||||
@ -55,21 +70,6 @@ class PosixThread {
|
|||||||
protected:
|
protected:
|
||||||
pthread_t thread;
|
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:
|
private:
|
||||||
char name[PTHREAD_MAX_NAMELEN];
|
char name[PTHREAD_MAX_NAMELEN];
|
||||||
int priority;
|
int priority;
|
||||||
|
@ -8,21 +8,22 @@
|
|||||||
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
|
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
|
||||||
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
|
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
|
||||||
|
|
||||||
TaskFactory::~TaskFactory() {}
|
TaskFactory::~TaskFactory() = default;
|
||||||
|
|
||||||
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
|
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
|
||||||
|
|
||||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(
|
PeriodicTaskIF* TaskFactory::createPeriodicTask(
|
||||||
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||||
return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
|
return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_,
|
||||||
deadLineMissedFunction_);
|
deadLineMissedFunction_);
|
||||||
}
|
}
|
||||||
|
|
||||||
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
|
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
|
||||||
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
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) {
|
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
|
||||||
|
@ -1,42 +1,32 @@
|
|||||||
#include "fsfw/osal/rtems/FixedTimeslotTask.h"
|
#include "fsfw/osal/rtems/FixedTimeslotTask.h"
|
||||||
|
|
||||||
#include <rtems/bspIo.h>
|
|
||||||
#include <rtems/io.h>
|
#include <rtems/io.h>
|
||||||
#include <rtems/rtems/ratemon.h>
|
|
||||||
#include <rtems/rtems/status.h>
|
#include <rtems/rtems/status.h>
|
||||||
#include <rtems/rtems/tasks.h>
|
#include <rtems/rtems/tasks.h>
|
||||||
#include <rtems/rtems/types.h>
|
#include <rtems/rtems/types.h>
|
||||||
#include <sys/_stdint.h>
|
|
||||||
|
|
||||||
#include "fsfw/objectmanager/ObjectManager.h"
|
|
||||||
#include "fsfw/objectmanager/SystemObjectIF.h"
|
|
||||||
#include "fsfw/osal/rtems/RtemsBasic.h"
|
#include "fsfw/osal/rtems/RtemsBasic.h"
|
||||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||||
#include "fsfw/tasks/FixedSequenceSlot.h"
|
|
||||||
|
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
#include <iostream>
|
#include <iostream>
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#include <cstddef>
|
#include <cstddef>
|
||||||
#include <list>
|
|
||||||
|
|
||||||
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
|
|
||||||
|
|
||||||
FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
|
FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
|
||||||
size_t setStack, uint32_t setOverallPeriod,
|
size_t setStack, TaskPeriod setOverallPeriod,
|
||||||
void (*setDeadlineMissedFunc)(void))
|
TaskDeadlineMissedFunction dlmFunc_)
|
||||||
: RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
|
: FixedTimeslotTaskBase(setOverallPeriod, dlmFunc_),
|
||||||
// All additional attributes are applied to the object.
|
RTEMSTaskBase(setPriority, setStack, name),
|
||||||
this->deadlineMissedFunc = setDeadlineMissedFunc;
|
periodId(0) {}
|
||||||
}
|
|
||||||
|
|
||||||
FixedTimeslotTask::~FixedTimeslotTask() {}
|
FixedTimeslotTask::~FixedTimeslotTask() = default;
|
||||||
|
|
||||||
rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
|
rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
|
||||||
/* The argument is re-interpreted as a FixedTimeslotTask */
|
/* The argument is re-interpreted as a FixedTimeslotTask */
|
||||||
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
|
auto *originalTask(reinterpret_cast<FixedTimeslotTask *>(argument));
|
||||||
/* The task's functionality is called. */
|
/* The task's functionality is called. */
|
||||||
return originalTask->taskFunctionality();
|
return originalTask->taskFunctionality();
|
||||||
/* Should never be reached */
|
/* Should never be reached */
|
||||||
@ -46,16 +36,6 @@ rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
|
|||||||
#endif
|
#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() {
|
ReturnValue_t FixedTimeslotTask::startTask() {
|
||||||
rtems_status_code status =
|
rtems_status_code status =
|
||||||
rtems_task_start(id, FixedTimeslotTask::taskEntryPoint, rtems_task_argument((void *)this));
|
rtems_task_start(id, FixedTimeslotTask::taskEntryPoint, rtems_task_argument((void *)this));
|
||||||
@ -79,54 +59,35 @@ ReturnValue_t FixedTimeslotTask::startTask() {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
|
[[noreturn]] void FixedTimeslotTask::taskFunctionality() {
|
||||||
int8_t executionStep) {
|
|
||||||
ExecutableObjectIF *object = ObjectManager::instance()->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
|
/* A local iterator for the Polling Sequence Table is created to find the start time for
|
||||||
the first entry. */
|
the first entry. */
|
||||||
FixedSlotSequence::SlotListIter it = pst.current;
|
auto it = pollingSeqTable.current;
|
||||||
|
|
||||||
/* Initialize the PST with the correct calling task */
|
/* Initialize the PST with the correct calling task */
|
||||||
pst.intializeSequenceAfterTaskCreation();
|
pollingSeqTable.intializeSequenceAfterTaskCreation();
|
||||||
|
|
||||||
/* The start time for the first entry is read. */
|
/* The start time for the first entry is read. */
|
||||||
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
|
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
|
||||||
RTEMSTaskBase::setAndStartPeriod(interval, &periodId);
|
RTEMSTaskBase::setAndStartPeriod(interval, &periodId);
|
||||||
// The task's "infinite" inner loop is entered.
|
// The task's "infinite" inner loop is entered.
|
||||||
while (1) {
|
while (true) {
|
||||||
if (pst.slotFollowsImmediately()) {
|
if (pollingSeqTable.slotFollowsImmediately()) {
|
||||||
/* Do nothing */
|
/* Do nothing */
|
||||||
} else {
|
} else {
|
||||||
/* The interval for the next polling slot is selected. */
|
/* The interval for the next polling slot is selected. */
|
||||||
interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
|
interval = RtemsBasic::convertMsToTicks(pollingSeqTable.getIntervalToNextSlotMs());
|
||||||
/* The period is checked and restarted with the new interval.
|
/* The period is checked and restarted with the new interval.
|
||||||
If the deadline was missed, the deadlineMissedFunc is called. */
|
If the deadline was missed, the deadlineMissedFunc is called. */
|
||||||
rtems_status_code status = RTEMSTaskBase::restartPeriod(interval, periodId);
|
rtems_status_code status = RTEMSTaskBase::restartPeriod(interval, periodId);
|
||||||
if (status == RTEMS_TIMEOUT) {
|
if (status == RTEMS_TIMEOUT) {
|
||||||
if (this->deadlineMissedFunc != nullptr) {
|
if (dlmFunc != nullptr) {
|
||||||
this->deadlineMissedFunc();
|
dlmFunc();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
/* The device handler for this slot is executed and the next one is chosen. */
|
/* The device handler for this slot is executed and the next one is chosen. */
|
||||||
this->pst.executeAndAdvance();
|
this->pollingSeqTable.executeAndAdvance();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -1,11 +1,11 @@
|
|||||||
#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
|
#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
|
||||||
#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
|
#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
|
||||||
|
|
||||||
#include "../../tasks/FixedSlotSequence.h"
|
|
||||||
#include "../../tasks/FixedTimeslotTaskIF.h"
|
|
||||||
#include "RTEMSTaskBase.h"
|
#include "RTEMSTaskBase.h"
|
||||||
|
#include "fsfw/tasks/FixedSlotSequence.h"
|
||||||
|
#include "fsfw/tasks/FixedTimeslotTaskBase.h"
|
||||||
|
|
||||||
class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
|
class FixedTimeslotTask : public FixedTimeslotTaskBase, public RTEMSTaskBase {
|
||||||
public:
|
public:
|
||||||
/**
|
/**
|
||||||
* @brief The standard constructor of the class.
|
* @brief The standard constructor of the class.
|
||||||
@ -17,7 +17,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
|
|||||||
* @param getPst The object id of the completely initialized polling sequence.
|
* @param getPst The object id of the completely initialized polling sequence.
|
||||||
*/
|
*/
|
||||||
FixedTimeslotTask(const char *name, rtems_task_priority setPriority, size_t setStackSize,
|
FixedTimeslotTask(const char *name, rtems_task_priority setPriority, size_t setStackSize,
|
||||||
uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
|
TaskPeriod overallPeriod, TaskDeadlineMissedFunction dlmFunc);
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief The destructor of the class.
|
* @brief The destructor of the class.
|
||||||
@ -25,44 +25,17 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
|
|||||||
* The destructor frees all heap memory that was allocated on thread initialization
|
* 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.
|
* for the PST andthe device handlers. This is done by calling the PST's destructor.
|
||||||
*/
|
*/
|
||||||
virtual ~FixedTimeslotTask(void);
|
~FixedTimeslotTask() override;
|
||||||
|
|
||||||
ReturnValue_t startTask(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);
|
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||||
|
|
||||||
uint32_t getPeriodMs() const;
|
|
||||||
|
|
||||||
ReturnValue_t checkSequence() const;
|
|
||||||
|
|
||||||
ReturnValue_t sleepFor(uint32_t ms);
|
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
/**
|
/**
|
||||||
* @brief id of the associated OS period
|
* @brief id of the associated OS period
|
||||||
*/
|
*/
|
||||||
rtems_id periodId;
|
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.
|
* @brief This is the entry point in a new polling thread.
|
||||||
* @details This method is the entry point in the new thread
|
* @details This method is the entry point in the new thread
|
||||||
@ -76,7 +49,7 @@ class FixedTimeslotTask : public RTEMSTaskBase, public FixedTimeslotTaskIF {
|
|||||||
* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
|
* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
|
||||||
* keep the timing of the periods.
|
* keep the timing of the periods.
|
||||||
*/
|
*/
|
||||||
void taskFunctionality(void);
|
[[noreturn]] void taskFunctionality();
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */
|
#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */
|
||||||
|
@ -59,8 +59,8 @@ class MessageQueue : public MessageQueueBase {
|
|||||||
|
|
||||||
private:
|
private:
|
||||||
/**
|
/**
|
||||||
* \brief This attribute stores a reference to the internal error reporter for reporting full
|
* @brief This attribute stores a reference to the internal error reporter for reporting full
|
||||||
* queues. \details In the event of a full destination queue, the reporter will be notified. The
|
* queues. @details In the event of a full destination queue, the reporter will be notified. The
|
||||||
* reference is set by lazy loading
|
* reference is set by lazy loading
|
||||||
*/
|
*/
|
||||||
InternalErrorReporterIF* internalErrorReporter;
|
InternalErrorReporterIF* internalErrorReporter;
|
||||||
|
@ -5,12 +5,12 @@
|
|||||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||||
|
|
||||||
PeriodicTask::PeriodicTask(const char* name, rtems_task_priority setPriority, size_t setStack,
|
PeriodicTask::PeriodicTask(const char* name, rtems_task_priority setPriority, size_t setStack,
|
||||||
rtems_interval setPeriod, void (*setDeadlineMissedFunc)())
|
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc_)
|
||||||
: RTEMSTaskBase(setPriority, setStack, name),
|
: PeriodicTaskBase(setPeriod, dlmFunc_),
|
||||||
periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
|
RTEMSTaskBase(setPriority, setStack, name),
|
||||||
deadlineMissedFunc(setDeadlineMissedFunc) {}
|
periodTicks(RtemsBasic::convertMsToTicks(static_cast<uint32_t>(setPeriod * 1000.0))) {}
|
||||||
|
|
||||||
PeriodicTask::~PeriodicTask(void) {
|
PeriodicTask::~PeriodicTask() {
|
||||||
/* Do not delete objects, we were responsible for pointers only. */
|
/* Do not delete objects, we were responsible for pointers only. */
|
||||||
rtems_rate_monotonic_delete(periodId);
|
rtems_rate_monotonic_delete(periodId);
|
||||||
}
|
}
|
||||||
@ -18,7 +18,7 @@ PeriodicTask::~PeriodicTask(void) {
|
|||||||
rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
|
rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
|
||||||
/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
|
/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
|
||||||
so it is found from any place. */
|
so it is found from any place. */
|
||||||
PeriodicTask* originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
auto* originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
||||||
return originalTask->taskFunctionality();
|
return originalTask->taskFunctionality();
|
||||||
;
|
;
|
||||||
}
|
}
|
||||||
@ -28,8 +28,10 @@ ReturnValue_t PeriodicTask::startTask() {
|
|||||||
rtems_task_start(id, PeriodicTask::taskEntryPoint, rtems_task_argument((void*)this));
|
rtems_task_start(id, PeriodicTask::taskEntryPoint, rtems_task_argument((void*)this));
|
||||||
if (status != RTEMS_SUCCESSFUL) {
|
if (status != RTEMS_SUCCESSFUL) {
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
sif::error << "ObjectTask::startTask for " << std::hex << this->getId() << std::dec
|
sif::error << "PeriodicTask::startTask for " << std::hex << this->getId() << std::dec
|
||||||
<< " failed." << std::endl;
|
<< " failed" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printError("PeriodicTask::startTask for 0x%08x failed\n", getId());
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
switch (status) {
|
switch (status) {
|
||||||
@ -47,38 +49,20 @@ ReturnValue_t PeriodicTask::startTask() {
|
|||||||
|
|
||||||
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { return RTEMSTaskBase::sleepFor(ms); }
|
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) { return RTEMSTaskBase::sleepFor(ms); }
|
||||||
|
|
||||||
void PeriodicTask::taskFunctionality() {
|
[[noreturn]] void PeriodicTask::taskFunctionality() {
|
||||||
RTEMSTaskBase::setAndStartPeriod(periodTicks, &periodId);
|
RTEMSTaskBase::setAndStartPeriod(periodTicks, &periodId);
|
||||||
for (const auto& object : objectList) {
|
initObjsAfterTaskCreation();
|
||||||
object->initializeAfterTaskCreation();
|
|
||||||
}
|
|
||||||
/* The task's "infinite" inner loop is entered. */
|
/* The task's "infinite" inner loop is entered. */
|
||||||
while (1) {
|
while (true) {
|
||||||
for (const auto& object : objectList) {
|
for (const auto& objectPair : objectList) {
|
||||||
object->performOperation();
|
objectPair.first->performOperation(objectPair.second);
|
||||||
}
|
}
|
||||||
rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks, periodId);
|
rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks, periodId);
|
||||||
if (status == RTEMS_TIMEOUT) {
|
if (status == RTEMS_TIMEOUT) {
|
||||||
if (this->deadlineMissedFunc != nullptr) {
|
if (dlmFunc != nullptr) {
|
||||||
this->deadlineMissedFunc();
|
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;
|
|
||||||
}
|
|
||||||
objectList.push_back(object);
|
|
||||||
object->setTaskIF(this);
|
|
||||||
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
uint32_t PeriodicTask::getPeriodMs() const { return RtemsBasic::convertTicksToMs(periodTicks); }
|
|
||||||
|
@ -3,9 +3,10 @@
|
|||||||
|
|
||||||
#include <vector>
|
#include <vector>
|
||||||
|
|
||||||
#include "../../objectmanager/ObjectManagerIF.h"
|
|
||||||
#include "../../tasks/PeriodicTaskIF.h"
|
|
||||||
#include "RTEMSTaskBase.h"
|
#include "RTEMSTaskBase.h"
|
||||||
|
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||||
|
#include "fsfw/tasks/PeriodicTaskBase.h"
|
||||||
|
#include "fsfw/tasks/PeriodicTaskIF.h"
|
||||||
|
|
||||||
class ExecutableObjectIF;
|
class ExecutableObjectIF;
|
||||||
|
|
||||||
@ -18,7 +19,7 @@ class ExecutableObjectIF;
|
|||||||
* @author baetz
|
* @author baetz
|
||||||
* @ingroup task_handling
|
* @ingroup task_handling
|
||||||
*/
|
*/
|
||||||
class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
|
class PeriodicTask : public PeriodicTaskBase, public RTEMSTaskBase {
|
||||||
public:
|
public:
|
||||||
/**
|
/**
|
||||||
* @brief Standard constructor of the class.
|
* @brief Standard constructor of the class.
|
||||||
@ -36,12 +37,12 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
|
|||||||
* that shall be assigned.
|
* that shall be assigned.
|
||||||
*/
|
*/
|
||||||
PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
|
PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
|
||||||
rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
|
TaskPeriod setPeriod, TaskDeadlineMissedFunction dlmFunc);
|
||||||
/**
|
/**
|
||||||
* @brief Currently, the executed object's lifetime is not coupled with the task object's
|
* @brief Currently, the executed object's lifetime is not coupled with the task object's
|
||||||
* lifetime, so the destructor is empty.
|
* lifetime, so the destructor is empty.
|
||||||
*/
|
*/
|
||||||
virtual ~PeriodicTask(void);
|
~PeriodicTask() override;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief The method to start the task.
|
* @brief The method to start the task.
|
||||||
@ -50,33 +51,11 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
|
|||||||
* The address of the task object is passed as an argument
|
* The address of the task object is passed as an argument
|
||||||
* to the system call.
|
* to the system call.
|
||||||
*/
|
*/
|
||||||
ReturnValue_t startTask(void);
|
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 Id of the object to add.
|
|
||||||
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
|
|
||||||
*/
|
|
||||||
ReturnValue_t addComponent(object_id_t object) 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 RETURN_OK on success, RETURN_FAILED if the object could not be added.
|
|
||||||
*/
|
|
||||||
ReturnValue_t addComponent(ExecutableObjectIF *object) override;
|
|
||||||
|
|
||||||
uint32_t getPeriodMs() const override;
|
|
||||||
|
|
||||||
ReturnValue_t sleepFor(uint32_t ms) override;
|
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
typedef std::vector<ExecutableObjectIF *> ObjectList; //!< Typedef for the List of objects.
|
|
||||||
/**
|
|
||||||
* @brief This attribute holds a list of objects to be executed.
|
|
||||||
*/
|
|
||||||
ObjectList objectList;
|
|
||||||
/**
|
/**
|
||||||
* @brief The period of the task.
|
* @brief The period of the task.
|
||||||
* @details The period determines the frequency of the task's execution. It is expressed in
|
* @details The period determines the frequency of the task's execution. It is expressed in
|
||||||
@ -87,14 +66,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
|
|||||||
* @brief id of the associated OS period
|
* @brief id of the associated OS period
|
||||||
*/
|
*/
|
||||||
rtems_id periodId = 0;
|
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.
|
|
||||||
* So, each may react individually on a timing failure. The pointer may be
|
|
||||||
* nullptr, 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.
|
* @brief This is the function executed in the new task's context.
|
||||||
* @details It converts the argument back to the thread object type and copies the class
|
* @details It converts the argument back to the thread object type and copies the class
|
||||||
@ -110,7 +82,7 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF {
|
|||||||
* are called. Afterwards the checkAndRestartPeriod system call blocks the task until the next
|
* are called. Afterwards the checkAndRestartPeriod system call blocks the task until the next
|
||||||
* period. On missing the deadline, the deadlineMissedFunction is executed.
|
* period. On missing the deadline, the deadlineMissedFunction is executed.
|
||||||
*/
|
*/
|
||||||
void taskFunctionality(void);
|
[[noreturn]] void taskFunctionality();
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */
|
#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */
|
||||||
|
@ -32,7 +32,7 @@ RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size
|
|||||||
|
|
||||||
RTEMSTaskBase::~RTEMSTaskBase() { rtems_task_delete(id); }
|
RTEMSTaskBase::~RTEMSTaskBase() { rtems_task_delete(id); }
|
||||||
|
|
||||||
rtems_id RTEMSTaskBase::getId() { return this->id; }
|
rtems_id RTEMSTaskBase::getId() const { return this->id; }
|
||||||
|
|
||||||
ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
|
ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
|
||||||
rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
|
rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
|
||||||
|
@ -36,9 +36,9 @@ class RTEMSTaskBase {
|
|||||||
/**
|
/**
|
||||||
* @brief This method returns the task id of this class.
|
* @brief This method returns the task id of this class.
|
||||||
*/
|
*/
|
||||||
rtems_id getId();
|
rtems_id getId() const;
|
||||||
|
|
||||||
ReturnValue_t sleepFor(uint32_t ms);
|
static ReturnValue_t sleepFor(uint32_t ms);
|
||||||
static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
|
static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
|
||||||
static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
|
static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
|
||||||
|
|
||||||
|
@ -1,7 +1,6 @@
|
|||||||
#include "fsfw/tasks/TaskFactory.h"
|
#include "fsfw/tasks/TaskFactory.h"
|
||||||
|
|
||||||
#include "fsfw/osal/rtems/FixedTimeslotTask.h"
|
#include "fsfw/osal/rtems/FixedTimeslotTask.h"
|
||||||
#include "fsfw/osal/rtems/InitTask.h"
|
|
||||||
#include "fsfw/osal/rtems/PeriodicTask.h"
|
#include "fsfw/osal/rtems/PeriodicTask.h"
|
||||||
#include "fsfw/osal/rtems/RtemsBasic.h"
|
#include "fsfw/osal/rtems/RtemsBasic.h"
|
||||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||||
@ -9,29 +8,29 @@
|
|||||||
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
|
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
|
||||||
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
|
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
|
||||||
|
|
||||||
TaskFactory::~TaskFactory() {}
|
TaskFactory::TaskFactory() = default;
|
||||||
|
|
||||||
|
TaskFactory::~TaskFactory() = default;
|
||||||
|
|
||||||
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
|
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
|
||||||
|
|
||||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(
|
PeriodicTaskIF* TaskFactory::createPeriodicTask(
|
||||||
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||||
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
|
return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_, stackSize_,
|
||||||
|
periodInSeconds_, deadLineMissedFunction_));
|
||||||
return static_cast<PeriodicTaskIF*>(
|
|
||||||
new PeriodicTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
|
|
||||||
}
|
}
|
||||||
|
|
||||||
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
|
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
|
||||||
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||||
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||||
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
|
return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(
|
||||||
return static_cast<FixedTimeslotTaskIF*>(
|
name_, taskPriority_, stackSize_, periodInSeconds_, deadLineMissedFunction_));
|
||||||
new FixedTimeslotTask(name_, taskPriority_, stackSize_, taskPeriod, deadLineMissedFunction_));
|
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
|
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
|
||||||
// TODO not implemented
|
// This should call the OS specific destructor
|
||||||
|
delete (dynamic_cast<PeriodicTask*>(task));
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -45,5 +44,3 @@ void TaskFactory::printMissedDeadline() {
|
|||||||
/* TODO: Implement */
|
/* TODO: Implement */
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
TaskFactory::TaskFactory() {}
|
|
||||||
|
@ -1,2 +1,3 @@
|
|||||||
target_sources(${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp
|
target_sources(
|
||||||
FixedSlotSequence.cpp)
|
${LIB_FSFW_NAME} PRIVATE FixedSequenceSlot.cpp FixedSlotSequence.cpp
|
||||||
|
PeriodicTaskBase.cpp FixedTimeslotTaskBase.cpp)
|
||||||
|
@ -29,7 +29,7 @@ void FixedSlotSequence::executeAndAdvance() {
|
|||||||
|
|
||||||
uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
|
uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
|
||||||
uint32_t oldTime;
|
uint32_t oldTime;
|
||||||
SlotListIter slotListIter = current;
|
auto slotListIter = current;
|
||||||
// Get the pollingTimeMs of the current slot object.
|
// Get the pollingTimeMs of the current slot object.
|
||||||
oldTime = slotListIter->pollingTimeMs;
|
oldTime = slotListIter->pollingTimeMs;
|
||||||
// Advance to the next object.
|
// Advance to the next object.
|
||||||
@ -51,7 +51,7 @@ uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
|
|||||||
|
|
||||||
uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
|
uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
|
||||||
uint32_t currentTime;
|
uint32_t currentTime;
|
||||||
SlotListIter slotListIter = current;
|
auto slotListIter = current;
|
||||||
// Get the pollingTimeMs of the current slot object.
|
// Get the pollingTimeMs of the current slot object.
|
||||||
currentTime = slotListIter->pollingTimeMs;
|
currentTime = slotListIter->pollingTimeMs;
|
||||||
|
|
||||||
@ -67,7 +67,7 @@ uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
|
|||||||
|
|
||||||
bool FixedSlotSequence::slotFollowsImmediately() {
|
bool FixedSlotSequence::slotFollowsImmediately() {
|
||||||
uint32_t currentTime = current->pollingTimeMs;
|
uint32_t currentTime = current->pollingTimeMs;
|
||||||
SlotListIter fixedSequenceIter = this->current;
|
auto fixedSequenceIter = this->current;
|
||||||
// Get the pollingTimeMs of the current slot object.
|
// Get the pollingTimeMs of the current slot object.
|
||||||
if (fixedSequenceIter == slotList.begin()) return false;
|
if (fixedSequenceIter == slotList.begin()) return false;
|
||||||
fixedSequenceIter--;
|
fixedSequenceIter--;
|
||||||
@ -96,8 +96,8 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
|
|||||||
return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
|
return FixedTimeslotTaskIF::SLOT_LIST_EMPTY;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (customCheckFunction != nullptr) {
|
if (customChecker != nullptr) {
|
||||||
ReturnValue_t result = customCheckFunction(slotList);
|
ReturnValue_t result = customChecker(slotList, customCheckArgs);
|
||||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||||
// Continue for now but print error output.
|
// Continue for now but print error output.
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
@ -161,6 +161,9 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
|
|||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
void FixedSlotSequence::addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&)) {
|
void FixedSlotSequence::addCustomCheck(CustomCheckFunc customChecker_, void* checkerArgs_) {
|
||||||
this->customCheckFunction = customCheckFunction;
|
customChecker = customChecker_;
|
||||||
|
customCheckArgs = checkerArgs_;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
bool FixedSlotSequence::isEmpty() const { return slotList.empty(); }
|
||||||
|
@ -30,12 +30,12 @@ class FixedSlotSequence {
|
|||||||
public:
|
public:
|
||||||
using SlotList = std::multiset<FixedSequenceSlot>;
|
using SlotList = std::multiset<FixedSequenceSlot>;
|
||||||
using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
|
using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
|
||||||
|
using CustomCheckFunc = ReturnValue_t (*)(const SlotList&, void* args);
|
||||||
/**
|
/**
|
||||||
* @brief The constructor of the FixedSlotSequence object.
|
* @brief The constructor of the FixedSlotSequence object.
|
||||||
* @param setLength The period length, expressed in ms.
|
* @param setLength The period length, expressed in ms.
|
||||||
*/
|
*/
|
||||||
FixedSlotSequence(uint32_t setLengthMs);
|
explicit FixedSlotSequence(uint32_t setLengthMs);
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief The destructor of the FixedSlotSequence object.
|
* @brief The destructor of the FixedSlotSequence object.
|
||||||
@ -106,7 +106,7 @@ class FixedSlotSequence {
|
|||||||
/**
|
/**
|
||||||
* @brief This method returns the length of this FixedSlotSequence instance.
|
* @brief This method returns the length of this FixedSlotSequence instance.
|
||||||
*/
|
*/
|
||||||
uint32_t getLengthMs() const;
|
[[nodiscard]] uint32_t getLengthMs() const;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief The method to execute the device handler entered in the current
|
* @brief The method to execute the device handler entered in the current
|
||||||
@ -137,7 +137,7 @@ class FixedSlotSequence {
|
|||||||
* @return
|
* @return
|
||||||
* - SLOT_LIST_EMPTY if the slot list is empty
|
* - SLOT_LIST_EMPTY if the slot list is empty
|
||||||
*/
|
*/
|
||||||
ReturnValue_t checkSequence() const;
|
[[nodiscard]] ReturnValue_t checkSequence() const;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief A custom check can be injected for the respective slot list.
|
* @brief A custom check can be injected for the respective slot list.
|
||||||
@ -149,7 +149,7 @@ class FixedSlotSequence {
|
|||||||
* @param customCheckFunction
|
* @param customCheckFunction
|
||||||
*
|
*
|
||||||
*/
|
*/
|
||||||
void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList&));
|
void addCustomCheck(CustomCheckFunc func, void* userArgs);
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief Perform any initialization steps required after the executing
|
* @brief Perform any initialization steps required after the executing
|
||||||
@ -157,7 +157,9 @@ class FixedSlotSequence {
|
|||||||
* executing task!
|
* executing task!
|
||||||
* @return
|
* @return
|
||||||
*/
|
*/
|
||||||
ReturnValue_t intializeSequenceAfterTaskCreation() const;
|
[[nodiscard]] ReturnValue_t intializeSequenceAfterTaskCreation() const;
|
||||||
|
|
||||||
|
[[nodiscard]] bool isEmpty() const;
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
/**
|
/**
|
||||||
@ -173,7 +175,8 @@ class FixedSlotSequence {
|
|||||||
*/
|
*/
|
||||||
SlotList slotList;
|
SlotList slotList;
|
||||||
|
|
||||||
ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
|
CustomCheckFunc customChecker = nullptr;
|
||||||
|
void* customCheckArgs = nullptr;
|
||||||
|
|
||||||
uint32_t lengthMs;
|
uint32_t lengthMs;
|
||||||
};
|
};
|
||||||
|
27
src/fsfw/tasks/FixedTimeslotTaskBase.cpp
Normal file
27
src/fsfw/tasks/FixedTimeslotTaskBase.cpp
Normal file
@ -0,0 +1,27 @@
|
|||||||
|
#include "FixedTimeslotTaskBase.h"
|
||||||
|
|
||||||
|
#include "fsfw/objectmanager/ObjectManager.h"
|
||||||
|
|
||||||
|
FixedTimeslotTaskBase::FixedTimeslotTaskBase(TaskPeriod period_,
|
||||||
|
TaskDeadlineMissedFunction dlmFunc_)
|
||||||
|
: period(period_), pollingSeqTable(getPeriodMs()), 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 execId, ExecutableObjectIF* execObj,
|
||||||
|
uint32_t slotTimeMs, int8_t executionStep) {
|
||||||
|
if (execObj == nullptr) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::error << "Component 0x" << std::hex << std::setw(8) << std::setfill('0') << execObj
|
||||||
|
<< 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;
|
||||||
|
}
|
||||||
|
pollingSeqTable.addSlot(execId, slotTimeMs, executionStep, execObj, this);
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
44
src/fsfw/tasks/FixedTimeslotTaskBase.h
Normal file
44
src/fsfw/tasks/FixedTimeslotTaskBase.h
Normal file
@ -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:
|
||||||
|
/**
|
||||||
|
* @brief Period of task in floating point seconds
|
||||||
|
*/
|
||||||
|
TaskPeriod period;
|
||||||
|
|
||||||
|
//! Polling sequence table which contains the object to execute
|
||||||
|
//! and information like the timeslots and the passed execution step.
|
||||||
|
FixedSlotSequence pollingSeqTable;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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 execId, ExecutableObjectIF* componentId, uint32_t slotTimeMs,
|
||||||
|
int8_t executionStep) override;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // FSFW_EXAMPLE_HOSTED_FIXEDTIMESLOTTASKBASE_H
|
@ -2,6 +2,7 @@
|
|||||||
#define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
|
#define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
|
||||||
|
|
||||||
#include "PeriodicTaskIF.h"
|
#include "PeriodicTaskIF.h"
|
||||||
|
#include "fsfw/objectmanager/ObjectManager.h"
|
||||||
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||||
#include "fsfw/returnvalues/FwClassIds.h"
|
#include "fsfw/returnvalues/FwClassIds.h"
|
||||||
|
|
||||||
@ -11,10 +12,23 @@
|
|||||||
*/
|
*/
|
||||||
class FixedTimeslotTaskIF : public PeriodicTaskIF {
|
class FixedTimeslotTaskIF : public PeriodicTaskIF {
|
||||||
public:
|
public:
|
||||||
virtual ~FixedTimeslotTaskIF() {}
|
~FixedTimeslotTaskIF() override = default;
|
||||||
|
|
||||||
static constexpr ReturnValue_t SLOT_LIST_EMPTY =
|
static constexpr ReturnValue_t SLOT_LIST_EMPTY =
|
||||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0);
|
HasReturnvaluesIF::makeReturnCode(CLASS_ID::FIXED_SLOT_TASK_IF, 0);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Add an object with a slot time and the execution step to the task.
|
||||||
|
* The execution step will be passed to the object (e.g. as an operation
|
||||||
|
* code in #performOperation)
|
||||||
|
* @param componentId
|
||||||
|
* @param slotTimeMs
|
||||||
|
* @param executionStep
|
||||||
|
* @return
|
||||||
|
*/
|
||||||
|
virtual ReturnValue_t addSlot(object_id_t execId, ExecutableObjectIF* obj, uint32_t slotTimeMs,
|
||||||
|
int8_t executionStep) = 0;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Add an object with a slot time and the execution step to the task.
|
* Add an object with a slot time and the execution step to the task.
|
||||||
* The execution step will be passed to the object (e.g. as an operation
|
* The execution step will be passed to the object (e.g. as an operation
|
||||||
@ -25,12 +39,24 @@ class FixedTimeslotTaskIF : public PeriodicTaskIF {
|
|||||||
* @return
|
* @return
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
|
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
|
||||||
int8_t executionStep) = 0;
|
int8_t executionStep) {
|
||||||
|
auto* execObj = ObjectManager::instance()->get<ExecutableObjectIF>(componentId);
|
||||||
|
return addSlot(componentId, execObj, slotTimeMs, executionStep);
|
||||||
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Check whether the sequence is valid and perform all other required
|
* Check whether the sequence is valid and perform all other required
|
||||||
* initialization steps which are needed after task creation
|
* initialization steps which are needed after task creation
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t checkSequence() const = 0;
|
virtual ReturnValue_t checkSequence() = 0;
|
||||||
|
|
||||||
|
ReturnValue_t addComponent(object_id_t object, uint8_t opCode) override {
|
||||||
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) override {
|
||||||
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */
|
#endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */
|
||||||
|
71
src/fsfw/tasks/PeriodicTaskBase.cpp
Normal file
71
src/fsfw/tasks/PeriodicTaskBase.cpp
Normal file
@ -0,0 +1,71 @@
|
|||||||
|
#include "PeriodicTaskBase.h"
|
||||||
|
|
||||||
|
#include <set>
|
||||||
|
|
||||||
|
#include "fsfw/objectmanager/ObjectManager.h"
|
||||||
|
#include "fsfw/serviceinterface.h"
|
||||||
|
|
||||||
|
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::addComponent(object_id_t object) { return addComponent(object, 0); }
|
||||||
|
|
||||||
|
ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object) {
|
||||||
|
return addComponent(object, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PeriodicTaskBase::initObjsAfterTaskCreation() {
|
||||||
|
std::set<ExecutableObjectIF*> uniqueObjects;
|
||||||
|
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
|
||||||
|
uint32_t count = 0;
|
||||||
|
for (const auto& obj : objectList) {
|
||||||
|
// Ensure that each unique object is initialized once.
|
||||||
|
if (uniqueObjects.find(obj.first) == uniqueObjects.end()) {
|
||||||
|
ReturnValue_t result = obj.first->initializeAfterTaskCreation();
|
||||||
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||||
|
count++;
|
||||||
|
status = result;
|
||||||
|
}
|
||||||
|
uniqueObjects.emplace(obj.first);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (count > 0) {
|
||||||
|
}
|
||||||
|
return status;
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PeriodicTaskBase::addComponent(object_id_t object, uint8_t opCode) {
|
||||||
|
auto* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
|
||||||
|
return addComponent(newObject, opCode);
|
||||||
|
}
|
||||||
|
|
||||||
|
ReturnValue_t PeriodicTaskBase::addComponent(ExecutableObjectIF* object, uint8_t opCode) {
|
||||||
|
if (object == nullptr) {
|
||||||
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
|
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
|
||||||
|
<< " it implements ExecutableObjectIF!" << std::endl;
|
||||||
|
#else
|
||||||
|
sif::printError(
|
||||||
|
"PeriodicTask::addComponent: Invalid object. Make sure it "
|
||||||
|
"implements ExecutableObjectIF!\n");
|
||||||
|
#endif
|
||||||
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
|
}
|
||||||
|
objectList.push_back({object, opCode});
|
||||||
|
object->setTaskIF(this);
|
||||||
|
|
||||||
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
}
|
54
src/fsfw/tasks/PeriodicTaskBase.h
Normal file
54
src/fsfw/tasks/PeriodicTaskBase.h
Normal file
@ -0,0 +1,54 @@
|
|||||||
|
#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"
|
||||||
|
|
||||||
|
class ExecutableObjectIF;
|
||||||
|
|
||||||
|
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;
|
||||||
|
|
||||||
|
ReturnValue_t addComponent(object_id_t object) override;
|
||||||
|
ReturnValue_t addComponent(ExecutableObjectIF* object) override;
|
||||||
|
|
||||||
|
[[nodiscard]] uint32_t getPeriodMs() const override;
|
||||||
|
|
||||||
|
[[nodiscard]] bool isEmpty() const override;
|
||||||
|
|
||||||
|
ReturnValue_t initObjsAfterTaskCreation();
|
||||||
|
|
||||||
|
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>>;
|
||||||
|
/**
|
||||||
|
* @brief This attribute holds a list of objects to be executed.
|
||||||
|
*/
|
||||||
|
ObjectList objectList;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif /* FSFW_SRC_FSFW_TASKS_PERIODICTASKBASE_H_ */
|
@ -3,9 +3,8 @@
|
|||||||
|
|
||||||
#include <cstddef>
|
#include <cstddef>
|
||||||
|
|
||||||
#include "../objectmanager/SystemObjectIF.h"
|
#include "fsfw/objectmanager/SystemObjectIF.h"
|
||||||
#include "../timemanager/Clock.h"
|
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||||
class ExecutableObjectIF;
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* New version of TaskIF
|
* New version of TaskIF
|
||||||
@ -18,7 +17,7 @@ class PeriodicTaskIF {
|
|||||||
/**
|
/**
|
||||||
* @brief A virtual destructor as it is mandatory for interfaces.
|
* @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
|
* @brief With the startTask method, a created task can be started
|
||||||
* for the first time.
|
* for the first time.
|
||||||
@ -26,28 +25,29 @@ class PeriodicTaskIF {
|
|||||||
virtual ReturnValue_t startTask() = 0;
|
virtual ReturnValue_t startTask() = 0;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Add a component (object) to a periodic task.
|
* Adds an object to the list of objects to be executed.
|
||||||
* @param object
|
* The objects are executed in the order added. The object needs to implement
|
||||||
* Add an object to the task. The object needs to implement ExecutableObjectIF
|
* ExecutableObjectIF
|
||||||
* @return
|
* @param object Id of the object to add.
|
||||||
|
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t addComponent(object_id_t object) {
|
virtual ReturnValue_t addComponent(object_id_t object, uint8_t opCode) = 0;
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
virtual ReturnValue_t addComponent(object_id_t object) { return addComponent(object, 0); };
|
||||||
};
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Add an object to a periodic task.
|
* Adds an object to the list of objects to be executed.
|
||||||
* @param object
|
* The objects are executed in the order added.
|
||||||
* Add an object to the task.
|
* @param object pointer to the object to add.
|
||||||
* @return
|
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t addComponent(ExecutableObjectIF* object) {
|
virtual ReturnValue_t addComponent(ExecutableObjectIF* object, uint8_t opCode) = 0;
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
virtual ReturnValue_t addComponent(ExecutableObjectIF* object) { return addComponent(object, 0); }
|
||||||
};
|
|
||||||
|
|
||||||
virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
|
virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
|
||||||
|
|
||||||
virtual uint32_t getPeriodMs() const = 0;
|
[[nodiscard]] virtual uint32_t getPeriodMs() const = 0;
|
||||||
|
|
||||||
|
[[nodiscard]] virtual bool isEmpty() const = 0;
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* PERIODICTASKIF_H_ */
|
#endif /* FRAMEWORK_TASK_PERIODICTASKIF_H_ */
|
||||||
|
@ -4,7 +4,7 @@
|
|||||||
#include <cstdlib>
|
#include <cstdlib>
|
||||||
|
|
||||||
#include "FixedTimeslotTaskIF.h"
|
#include "FixedTimeslotTaskIF.h"
|
||||||
#include "Typedef.h"
|
#include "definitions.h"
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Singleton Class that produces Tasks.
|
* Singleton Class that produces Tasks.
|
||||||
|
@ -1,13 +0,0 @@
|
|||||||
#ifndef FSFW_TASKS_TYPEDEF_H_
|
|
||||||
#define FSFW_TASKS_TYPEDEF_H_
|
|
||||||
|
|
||||||
#include <cstddef>
|
|
||||||
#include <cstdint>
|
|
||||||
|
|
||||||
typedef const char* TaskName;
|
|
||||||
typedef uint32_t TaskPriority;
|
|
||||||
typedef size_t TaskStackSize;
|
|
||||||
typedef double TaskPeriod;
|
|
||||||
typedef void (*TaskDeadlineMissedFunction)();
|
|
||||||
|
|
||||||
#endif /* FSFW_TASKS_TYPEDEF_H_ */
|
|
13
src/fsfw/tasks/definitions.h
Normal file
13
src/fsfw/tasks/definitions.h
Normal file
@ -0,0 +1,13 @@
|
|||||||
|
#ifndef FSFW_TASKS_TYPEDEF_H_
|
||||||
|
#define FSFW_TASKS_TYPEDEF_H_
|
||||||
|
|
||||||
|
#include <cstddef>
|
||||||
|
#include <cstdint>
|
||||||
|
|
||||||
|
using TaskName = const char*;
|
||||||
|
using TaskPriority = int;
|
||||||
|
using TaskStackSize = size_t;
|
||||||
|
using TaskPeriod = double;
|
||||||
|
using TaskDeadlineMissedFunction = void (*)();
|
||||||
|
|
||||||
|
#endif /* FSFW_TASKS_TYPEDEF_H_ */
|
@ -13,14 +13,14 @@ TestDevice::TestDevice(object_id_t objectId, object_id_t comIF, CookieIF* cookie
|
|||||||
dataset(this),
|
dataset(this),
|
||||||
fullInfoPrintout(fullInfoPrintout) {}
|
fullInfoPrintout(fullInfoPrintout) {}
|
||||||
|
|
||||||
TestDevice::~TestDevice() {}
|
TestDevice::~TestDevice() = default;
|
||||||
|
|
||||||
void TestDevice::performOperationHook() {
|
void TestDevice::performOperationHook() {
|
||||||
if (periodicPrintout) {
|
if (periodicPrintout) {
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
|
sif::info << "TestDevice" << deviceIdx << "::performOperationHook: Alive!" << std::endl;
|
||||||
#else
|
#else
|
||||||
sif::printInfo("TestDevice%d::performOperationHook: Alive!", deviceIdx);
|
sif::printInfo("TestDevice%d::performOperationHook: Alive!\n", deviceIdx);
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -12,7 +12,7 @@ TestTask::TestTask(object_id_t objectId) : SystemObject(objectId), testMode(test
|
|||||||
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
|
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
|
||||||
}
|
}
|
||||||
|
|
||||||
TestTask::~TestTask() {}
|
TestTask::~TestTask() = default;
|
||||||
|
|
||||||
ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
|
ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
|
||||||
ReturnValue_t result = RETURN_OK;
|
ReturnValue_t result = RETURN_OK;
|
||||||
|
@ -13,9 +13,9 @@
|
|||||||
*/
|
*/
|
||||||
class TestTask : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
|
class TestTask : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
|
||||||
public:
|
public:
|
||||||
TestTask(object_id_t objectId);
|
explicit TestTask(object_id_t objectId);
|
||||||
virtual ~TestTask();
|
~TestTask() override;
|
||||||
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
ReturnValue_t performOperation(uint8_t operationCode) override;
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
virtual ReturnValue_t performOneShotAction();
|
virtual ReturnValue_t performOneShotAction();
|
||||||
|
@ -16,7 +16,7 @@
|
|||||||
#include "fsfw_tests/unit/mocks/PeriodicTaskIFMock.h"
|
#include "fsfw_tests/unit/mocks/PeriodicTaskIFMock.h"
|
||||||
|
|
||||||
TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
|
TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
|
||||||
PeriodicTaskMock task(10);
|
PeriodicTaskMock task(10, nullptr);
|
||||||
ObjectManagerIF* manager = ObjectManager::instance();
|
ObjectManagerIF* manager = ObjectManager::instance();
|
||||||
if (manager == nullptr) {
|
if (manager == nullptr) {
|
||||||
FAIL();
|
FAIL();
|
||||||
@ -27,6 +27,8 @@ TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
|
|||||||
FAIL();
|
FAIL();
|
||||||
}
|
}
|
||||||
task.addComponent(objects::INTERNAL_ERROR_REPORTER);
|
task.addComponent(objects::INTERNAL_ERROR_REPORTER);
|
||||||
|
// This calls the initializeAfterTaskCreation function
|
||||||
|
task.startTask();
|
||||||
MessageQueueIF* testQueue = QueueFactory::instance()->createMessageQueue(1);
|
MessageQueueIF* testQueue = QueueFactory::instance()->createMessageQueue(1);
|
||||||
MessageQueueIF* hkQueue = QueueFactory::instance()->createMessageQueue(1);
|
MessageQueueIF* hkQueue = QueueFactory::instance()->createMessageQueue(1);
|
||||||
internalErrorReporter->getSubscriptionInterface()->subscribeForSetUpdateMessage(
|
internalErrorReporter->getSubscriptionInterface()->subscribeForSetUpdateMessage(
|
||||||
|
@ -2,36 +2,24 @@
|
|||||||
#define FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
|
#define FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
|
||||||
|
|
||||||
#include <fsfw/tasks/ExecutableObjectIF.h>
|
#include <fsfw/tasks/ExecutableObjectIF.h>
|
||||||
#include <fsfw/tasks/PeriodicTaskIF.h>
|
#include <fsfw/tasks/PeriodicTaskBase.h>
|
||||||
|
|
||||||
class PeriodicTaskMock : public PeriodicTaskIF {
|
class PeriodicTaskMock : public PeriodicTaskBase {
|
||||||
public:
|
public:
|
||||||
PeriodicTaskMock(uint32_t period = 5) : period(period) {}
|
PeriodicTaskMock(TaskPeriod period, TaskDeadlineMissedFunction dlmFunc)
|
||||||
/**
|
: PeriodicTaskBase(period, dlmFunc) {}
|
||||||
* @brief A virtual destructor as it is mandatory for interfaces.
|
|
||||||
*/
|
|
||||||
virtual ~PeriodicTaskMock() {}
|
virtual ~PeriodicTaskMock() {}
|
||||||
/**
|
/**
|
||||||
* @brief With the startTask method, a created task can be started
|
* @brief With the startTask method, a created task can be started
|
||||||
* for the first time.
|
* for the first time.
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t startTask() override { return HasReturnvaluesIF::RETURN_OK; };
|
virtual ReturnValue_t startTask() override {
|
||||||
|
initObjsAfterTaskCreation();
|
||||||
virtual ReturnValue_t addComponent(object_id_t object) override {
|
|
||||||
ExecutableObjectIF* executableObject =
|
|
||||||
ObjectManager::instance()->get<ExecutableObjectIF>(objects::INTERNAL_ERROR_REPORTER);
|
|
||||||
if (executableObject == nullptr) {
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
executableObject->setTaskIF(this);
|
|
||||||
executableObject->initializeAfterTaskCreation();
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
};
|
};
|
||||||
|
|
||||||
virtual ReturnValue_t sleepFor(uint32_t ms) override { return HasReturnvaluesIF::RETURN_OK; };
|
virtual ReturnValue_t sleepFor(uint32_t ms) override { return HasReturnvaluesIF::RETURN_OK; };
|
||||||
|
|
||||||
virtual uint32_t getPeriodMs() const override { return period; };
|
|
||||||
uint32_t period;
|
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
|
#endif // FSFW_UNITTEST_TESTS_MOCKS_PERIODICTASKMOCK_H_
|
Loading…
Reference in New Issue
Block a user