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reapply clang format

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This commit is contained in:
Robin Müller
2022-02-02 10:29:30 +01:00
parent 70b593df65
commit ddcac2bbac
809 changed files with 52010 additions and 56052 deletions
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240
src/fsfw/osal/linux/BinarySemaphore.cpp
View File

@ -1,162 +1,152 @@
#include "fsfw/osal/linux/BinarySemaphore.h"
#include <errno.h>
#include <time.h>
#include <cstring>
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include <time.h>
#include <errno.h>
#include <cstring>
BinarySemaphore::BinarySemaphore() {
// Using unnamed semaphores for now
initSemaphore();
// Using unnamed semaphores for now
initSemaphore();
}
BinarySemaphore::~BinarySemaphore() {
sem_destroy(&handle);
BinarySemaphore::~BinarySemaphore() { sem_destroy(&handle); }
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) { initSemaphore(); }
BinarySemaphore& BinarySemaphore::operator=(BinarySemaphore&& s) {
initSemaphore();
return *this;
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
initSemaphore();
}
ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType, uint32_t timeoutMs) {
int result = 0;
if (timeoutType == TimeoutType::POLLING) {
result = sem_trywait(&handle);
} else if (timeoutType == TimeoutType::BLOCKING) {
result = sem_wait(&handle);
} else if (timeoutType == TimeoutType::WAITING) {
timespec timeOut;
clock_gettime(CLOCK_REALTIME, &timeOut);
uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
nseconds += timeoutMs * 1000000;
timeOut.tv_sec = nseconds / 1000000000;
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
result = sem_timedwait(&handle, &timeOut);
if (result != 0 and errno == EINVAL) {
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "sem_timedwait");
}
}
if (result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
initSemaphore();
return * this;
}
ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
int result = 0;
if(timeoutType == TimeoutType::POLLING) {
result = sem_trywait(&handle);
switch (errno) {
case (EAGAIN):
// Operation could not be performed without blocking (for sem_trywait)
case (ETIMEDOUT): {
// Semaphore is 0
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "ETIMEDOUT");
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
else if(timeoutType == TimeoutType::BLOCKING) {
result = sem_wait(&handle);
case (EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
}
else if(timeoutType == TimeoutType::WAITING){
timespec timeOut;
clock_gettime(CLOCK_REALTIME, &timeOut);
uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
nseconds += timeoutMs * 1000000;
timeOut.tv_sec = nseconds / 1000000000;
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
result = sem_timedwait(&handle, &timeOut);
if(result != 0 and errno == EINVAL) {
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "sem_timedwait");
}
}
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(errno) {
case(EAGAIN):
// Operation could not be performed without blocking (for sem_trywait)
case(ETIMEDOUT): {
// Semaphore is 0
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "ETIMEDOUT");
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
case(EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
}
case(EINTR): {
// Call was interrupted by signal handler
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINTR");
return HasReturnvaluesIF::RETURN_FAILED;
case (EINTR): {
// Call was interrupted by signal handler
utility::printUnixErrorGeneric(CLASS_NAME, "acquire", "EINTR");
return HasReturnvaluesIF::RETURN_FAILED;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t BinarySemaphore::release() {
return BinarySemaphore::release(&this->handle);
}
ReturnValue_t BinarySemaphore::release() { return BinarySemaphore::release(&this->handle); }
ReturnValue_t BinarySemaphore::release(sem_t *handle) {
ReturnValue_t countResult = checkCount(handle, 1);
if(countResult != HasReturnvaluesIF::RETURN_OK) {
return countResult;
}
ReturnValue_t BinarySemaphore::release(sem_t* handle) {
ReturnValue_t countResult = checkCount(handle, 1);
if (countResult != HasReturnvaluesIF::RETURN_OK) {
return countResult;
}
int result = sem_post(handle);
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
int result = sem_post(handle);
if (result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(errno) {
case(EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric(CLASS_NAME, "release", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
switch (errno) {
case (EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric(CLASS_NAME, "release", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
}
case(EOVERFLOW): {
// SEM_MAX_VALUE overflow. This should never happen
utility::printUnixErrorGeneric(CLASS_NAME, "release", "EOVERFLOW");
return HasReturnvaluesIF::RETURN_FAILED;
case (EOVERFLOW): {
// SEM_MAX_VALUE overflow. This should never happen
utility::printUnixErrorGeneric(CLASS_NAME, "release", "EOVERFLOW");
return HasReturnvaluesIF::RETURN_FAILED;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t BinarySemaphore::getSemaphoreCounter() const {
// And another ugly cast :-D
return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
// And another ugly cast :-D
return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
}
uint8_t BinarySemaphore::getSemaphoreCounter(sem_t *handle) {
int value = 0;
int result = sem_getvalue(handle, &value);
if (result == 0) {
return value;
}
else if(result != 0 and errno == EINVAL) {
// Could be called from interrupt, use lightweight printf
sif::printError("BinarySemaphore::getSemaphoreCounter: "
"Invalid semaphore\n");
return 0;
}
else {
// This should never happen.
return 0;
}
uint8_t BinarySemaphore::getSemaphoreCounter(sem_t* handle) {
int value = 0;
int result = sem_getvalue(handle, &value);
if (result == 0) {
return value;
} else if (result != 0 and errno == EINVAL) {
// Could be called from interrupt, use lightweight printf
sif::printError(
"BinarySemaphore::getSemaphoreCounter: "
"Invalid semaphore\n");
return 0;
} else {
// This should never happen.
return 0;
}
}
void BinarySemaphore::initSemaphore(uint8_t initCount) {
auto result = sem_init(&handle, true, initCount);
if(result == -1) {
switch(errno) {
case(EINVAL): {
utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "EINVAL");
break;
}
case(ENOSYS): {
// System does not support process-shared semaphores
utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "ENOSYS");
break;
}
}
auto result = sem_init(&handle, true, initCount);
if (result == -1) {
switch (errno) {
case (EINVAL): {
utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "EINVAL");
break;
}
case (ENOSYS): {
// System does not support process-shared semaphores
utility::printUnixErrorGeneric(CLASS_NAME, "initSemaphore", "ENOSYS");
break;
}
}
}
}
ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
int value = getSemaphoreCounter(handle);
if(value >= maxCount) {
if(maxCount == 1 and value > 1) {
// Binary Semaphore special case.
// This is a config error use lightweight printf is this is called
// from an interrupt
printf("BinarySemaphore::release: Value of binary semaphore greater than 1!\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
int value = getSemaphoreCounter(handle);
if (value >= maxCount) {
if (maxCount == 1 and value > 1) {
// Binary Semaphore special case.
// This is a config error use lightweight printf is this is called
// from an interrupt
printf("BinarySemaphore::release: Value of binary semaphore greater than 1!\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
return HasReturnvaluesIF::RETURN_OK;
}

108
src/fsfw/osal/linux/BinarySemaphore.h
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@ -17,66 +17,66 @@ extern "C" {
* @author R. Mueller
* @ingroup osal
*/
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
class BinarySemaphore : public SemaphoreIF, public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
//! @brief Copy ctor, deleted explicitely.
BinarySemaphore(const BinarySemaphore&) = delete;
//! @brief Copy assignment, deleted explicitely.
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
//! @brief Move ctor
BinarySemaphore (BinarySemaphore &&);
//! @brief Move assignment
BinarySemaphore & operator=(BinarySemaphore &&);
//! @brief Destructor
virtual ~BinarySemaphore();
//! @brief Default ctor
BinarySemaphore();
//! @brief Copy ctor, deleted explicitely.
BinarySemaphore(const BinarySemaphore&) = delete;
//! @brief Copy assignment, deleted explicitely.
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
//! @brief Move ctor
BinarySemaphore(BinarySemaphore&&);
//! @brief Move assignment
BinarySemaphore& operator=(BinarySemaphore&&);
//! @brief Destructor
virtual ~BinarySemaphore();
void initSemaphore(uint8_t initCount = 1);
void initSemaphore(uint8_t initCount = 1);
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(sem_t* handle);
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(sem_t* handle);
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked
* for a maximum of #timeoutMs or until the semaphore is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = 0) override;
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked
* for a maximum of #timeoutMs or until the semaphore is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = 0) override;
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
virtual ReturnValue_t release() override;
/**
* This static function can be used to release a semaphore by providing
* its handle.
* @param handle
* @return
*/
static ReturnValue_t release(sem_t* handle);
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
virtual ReturnValue_t release() override;
/**
* This static function can be used to release a semaphore by providing
* its handle.
* @param handle
* @return
*/
static ReturnValue_t release(sem_t* handle);
/** Checks the validity of the semaphore count against a specified
* known maxCount
* @param handle
* @param maxCount
* @return
*/
static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
protected:
sem_t handle;
static constexpr const char* CLASS_NAME = "BinarySemaphore";
/** Checks the validity of the semaphore count against a specified
* known maxCount
* @param handle
* @param maxCount
* @return
*/
static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
protected:
sem_t handle;
static constexpr const char* CLASS_NAME = "BinarySemaphore";
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

193
src/fsfw/osal/linux/Clock.cpp
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@ -1,94 +1,96 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Clock.h"
#include <sys/time.h>
#include <sys/sysinfo.h>
#include <linux/sysinfo.h>
#include <sys/sysinfo.h>
#include <sys/time.h>
#include <time.h>
#include <unistd.h>
#include <fstream>
#include "fsfw/serviceinterface/ServiceInterface.h"
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = NULL;
uint32_t Clock::getTicksPerSecond(void){
uint32_t ticks = sysconf(_SC_CLK_TCK);
return ticks;
uint32_t Clock::getTicksPerSecond(void) {
uint32_t ticks = sysconf(_SC_CLK_TCK);
return ticks;
}
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
timespec timeUnix;
timeval timeTimeval;
convertTimeOfDayToTimeval(time,&timeTimeval);
timeUnix.tv_sec = timeTimeval.tv_sec;
timeUnix.tv_nsec = (__syscall_slong_t) timeTimeval.tv_usec * 1000;
timespec timeUnix;
timeval timeTimeval;
convertTimeOfDayToTimeval(time, &timeTimeval);
timeUnix.tv_sec = timeTimeval.tv_sec;
timeUnix.tv_nsec = (__syscall_slong_t)timeTimeval.tv_usec * 1000;
int status = clock_settime(CLOCK_REALTIME,&timeUnix);
if(status!=0){
//TODO errno
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
int status = clock_settime(CLOCK_REALTIME, &timeUnix);
if (status != 0) {
// TODO errno
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setClock(const timeval* time) {
timespec timeUnix;
timeUnix.tv_sec = time->tv_sec;
timeUnix.tv_nsec = (__syscall_slong_t) time->tv_usec * 1000;
int status = clock_settime(CLOCK_REALTIME,&timeUnix);
if(status!=0){
//TODO errno
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
timespec timeUnix;
timeUnix.tv_sec = time->tv_sec;
timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000;
int status = clock_settime(CLOCK_REALTIME, &timeUnix);
if (status != 0) {
// TODO errno
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getClock_timeval(timeval* time) {
timespec timeUnix;
int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
if(status!=0){
return HasReturnvaluesIF::RETURN_FAILED;
}
time->tv_sec = timeUnix.tv_sec;
time->tv_usec = timeUnix.tv_nsec / 1000.0;
return HasReturnvaluesIF::RETURN_OK;
timespec timeUnix;
int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
if (status != 0) {
return HasReturnvaluesIF::RETURN_FAILED;
}
time->tv_sec = timeUnix.tv_sec;
time->tv_usec = timeUnix.tv_nsec / 1000.0;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
timeval timeVal;
ReturnValue_t result = getClock_timeval(&timeVal);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
*time = (uint64_t)timeVal.tv_sec*1e6 + timeVal.tv_usec;
timeval timeVal;
ReturnValue_t result = getClock_timeval(&timeVal);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*time = (uint64_t)timeVal.tv_sec * 1e6 + timeVal.tv_usec;
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
timeval Clock::getUptime() {
timeval uptime;
auto result = getUptime(&uptime);
if(result != HasReturnvaluesIF::RETURN_OK) {
timeval uptime;
auto result = getUptime(&uptime);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
#endif
}
return uptime;
}
return uptime;
}
ReturnValue_t Clock::getUptime(timeval* uptime) {
//TODO This is not posix compatible and delivers only seconds precision
// Linux specific file read but more precise.
double uptimeSeconds;
if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
uptime->tv_sec = uptimeSeconds;
uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
}
return HasReturnvaluesIF::RETURN_OK;
// TODO This is not posix compatible and delivers only seconds precision
// Linux specific file read but more precise.
double uptimeSeconds;
if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds) {
uptime->tv_sec = uptimeSeconds;
uptime->tv_usec = uptimeSeconds * (double)1e6 - (uptime->tv_sec * 1e6);
}
return HasReturnvaluesIF::RETURN_OK;
}
// Wait for new FSFW Clock function delivering seconds uptime.
//uint32_t Clock::getUptimeSeconds() {
// uint32_t Clock::getUptimeSeconds() {
// //TODO This is not posix compatible and delivers only seconds precision
// struct sysinfo sysInfo;
// int result = sysinfo(&sysInfo);
@ -99,57 +101,52 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
//}
ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
timeval uptime;
ReturnValue_t result = getUptime(&uptime);
if(result != HasReturnvaluesIF::RETURN_OK){
return result;
}
*uptimeMs = uptime.tv_sec * 1e3 + uptime.tv_usec / 1e3;
return HasReturnvaluesIF::RETURN_OK;
timeval uptime;
ReturnValue_t result = getUptime(&uptime);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*uptimeMs = uptime.tv_sec * 1e3 + uptime.tv_usec / 1e3;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
timespec timeUnix;
int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
if(status != 0){
//TODO errno
return HasReturnvaluesIF::RETURN_FAILED;
}
timespec timeUnix;
int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
if (status != 0) {
// TODO errno
return HasReturnvaluesIF::RETURN_FAILED;
}
struct tm* timeInfo;
timeInfo = gmtime(&timeUnix.tv_sec);
time->year = timeInfo->tm_year + 1900;
time->month = timeInfo->tm_mon+1;
time->day = timeInfo->tm_mday;
time->hour = timeInfo->tm_hour;
time->minute = timeInfo->tm_min;
time->second = timeInfo->tm_sec;
time->usecond = timeUnix.tv_nsec / 1000.0;
struct tm* timeInfo;
timeInfo = gmtime(&timeUnix.tv_sec);
time->year = timeInfo->tm_year + 1900;
time->month = timeInfo->tm_mon + 1;
time->day = timeInfo->tm_mday;
time->hour = timeInfo->tm_hour;
time->minute = timeInfo->tm_min;
time->second = timeInfo->tm_sec;
time->usecond = timeUnix.tv_nsec / 1000.0;
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
timeval* to) {
ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
tm fromTm;
// Note: Fails for years before AD
fromTm.tm_year = from->year - 1900;
fromTm.tm_mon = from->month - 1;
fromTm.tm_mday = from->day;
fromTm.tm_hour = from->hour;
fromTm.tm_min = from->minute;
fromTm.tm_sec = from->second;
tm fromTm;
//Note: Fails for years before AD
fromTm.tm_year = from->year - 1900;
fromTm.tm_mon = from->month - 1;
fromTm.tm_mday = from->day;
fromTm.tm_hour = from->hour;
fromTm.tm_min = from->minute;
fromTm.tm_sec = from->second;
to->tv_sec = mktime(&fromTm);
to->tv_usec = from->usecond;
return HasReturnvaluesIF::RETURN_OK;
to->tv_sec = mktime(&fromTm);
to->tv_usec = from->usecond;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
/ 3600.;
return HasReturnvaluesIF::RETURN_OK;
*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24. / 3600.;
return HasReturnvaluesIF::RETURN_OK;
}

88
src/fsfw/osal/linux/CountingSemaphore.cpp
View File

@ -1,70 +1,68 @@
#include "fsfw/osal/linux/CountingSemaphore.h"
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <errno.h>
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount)
: maxCount(maxCount), initCount(initCount) {
if (initCount > maxCount) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count" << std::endl;
sif::warning << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count"
<< std::endl;
#else
sif::printWarning("CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count\n");
sif::printWarning(
"CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count\n");
#endif
initCount = maxCount;
}
initCount = maxCount;
}
initSemaphore(initCount);
initSemaphore(initCount);
}
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
maxCount(other.maxCount), initCount(other.initCount) {
initSemaphore(initCount);
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other)
: maxCount(other.maxCount), initCount(other.initCount) {
initSemaphore(initCount);
}
CountingSemaphore& CountingSemaphore::operator =(
CountingSemaphore&& other) {
initSemaphore(other.initCount);
return * this;
CountingSemaphore& CountingSemaphore::operator=(CountingSemaphore&& other) {
initSemaphore(other.initCount);
return *this;
}
ReturnValue_t CountingSemaphore::release() {
ReturnValue_t result = checkCount(&handle, maxCount);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CountingSemaphore::release(&this->handle);
ReturnValue_t result = checkCount(&handle, maxCount);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CountingSemaphore::release(&this->handle);
}
ReturnValue_t CountingSemaphore::release(sem_t* handle) {
int result = sem_post(handle);
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
int result = sem_post(handle);
if (result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
switch (errno) {
case (EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric("CountingSemaphore", "release", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
}
switch(errno) {
case(EINVAL): {
// Semaphore invalid
utility::printUnixErrorGeneric("CountingSemaphore", "release", "EINVAL");
return SemaphoreIF::SEMAPHORE_INVALID;
}
case(EOVERFLOW): {
// SEM_MAX_VALUE overflow. This should never happen
utility::printUnixErrorGeneric("CountingSemaphore", "release", "EOVERFLOW");
return SemaphoreIF::SEMAPHORE_INVALID;
case (EOVERFLOW): {
// SEM_MAX_VALUE overflow. This should never happen
utility::printUnixErrorGeneric("CountingSemaphore", "release", "EOVERFLOW");
return SemaphoreIF::SEMAPHORE_INVALID;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t CountingSemaphore::getMaxCount() const {
return maxCount;
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t CountingSemaphore::getMaxCount() const { return maxCount; }

41
src/fsfw/osal/linux/CountingSemaphore.h
View File

@ -10,28 +10,29 @@
* so we just inherit from binary semaphore and provide the respective
* constructors.
*/
class CountingSemaphore: public BinarySemaphore {
public:
CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
//! @brief Copy ctor, disabled
CountingSemaphore(const CountingSemaphore&) = delete;
//! @brief Copy assignment, disabled
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
//! @brief Move ctor
CountingSemaphore (CountingSemaphore &&);
//! @brief Move assignment
CountingSemaphore & operator=(CountingSemaphore &&);
class CountingSemaphore : public BinarySemaphore {
public:
CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
//! @brief Copy ctor, disabled
CountingSemaphore(const CountingSemaphore&) = delete;
//! @brief Copy assignment, disabled
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
//! @brief Move ctor
CountingSemaphore(CountingSemaphore&&);
//! @brief Move assignment
CountingSemaphore& operator=(CountingSemaphore&&);
ReturnValue_t release() override;
static ReturnValue_t release(sem_t* sem);
/* Same API as binary semaphore otherwise. acquire() can be called
* until there are not semaphores left and release() can be called
* until maxCount is reached. */
ReturnValue_t release() override;
static ReturnValue_t release(sem_t* sem);
/* Same API as binary semaphore otherwise. acquire() can be called
* until there are not semaphores left and release() can be called
* until maxCount is reached. */
uint8_t getMaxCount() const;
private:
const uint8_t maxCount;
uint8_t initCount = 0;
uint8_t getMaxCount() const;
private:
const uint8_t maxCount;
uint8_t initCount = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

125
src/fsfw/osal/linux/FixedTimeslotTask.cpp
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@ -1,103 +1,94 @@
#include "fsfw/osal/linux/FixedTimeslotTask.h"
#include <limits.h>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <limits.h>
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_,
size_t stackSize_, uint32_t periodMs_):
PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) {
}
FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
uint32_t periodMs_)
: PosixThread(name_, priority_, stackSize_), pst(periodMs_), started(false) {}
FixedTimeslotTask::~FixedTimeslotTask() {
}
FixedTimeslotTask::~FixedTimeslotTask() {}
void* FixedTimeslotTask::taskEntryPoint(void* arg) {
//The argument is re-interpreted as PollingTask.
FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
//The task's functionality is called.
originalTask->taskFunctionality();
return nullptr;
// The argument is re-interpreted as PollingTask.
FixedTimeslotTask* originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
// The task's functionality is called.
originalTask->taskFunctionality();
return nullptr;
}
ReturnValue_t FixedTimeslotTask::startTask() {
started = true;
createTask(&taskEntryPoint,this);
return HasReturnvaluesIF::RETURN_OK;
started = true;
createTask(&taskEntryPoint, this);
return HasReturnvaluesIF::RETURN_OK;
}
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();
}
uint32_t FixedTimeslotTask::getPeriodMs() const { return pst.getLengthMs(); }
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;
}
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;
sif::error << "Component " << std::hex << componentId << " not found, not adding it to pst"
<< std::dec << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t FixedTimeslotTask::checkSequence() const {
return pst.checkSequence();
}
ReturnValue_t FixedTimeslotTask::checkSequence() const { return pst.checkSequence(); }
void FixedTimeslotTask::taskFunctionality() {
//Like FreeRTOS pthreads are running as soon as they are created
if (!started) {
suspend();
}
// Like FreeRTOS pthreads are running as soon as they are created
if (!started) {
suspend();
}
pst.intializeSequenceAfterTaskCreation();
pst.intializeSequenceAfterTaskCreation();
//The start time for the first entry is read.
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
uint64_t interval = pst.getIntervalToNextSlotMs();
// The start time for the first entry is read.
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
uint64_t interval = pst.getIntervalToNextSlotMs();
//The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
//Do nothing
} else {
//The interval for the next polling slot is selected.
interval = this->pst.getIntervalToPreviousSlotMs();
//The period is checked and restarted with the new interval.
//If the deadline was missed, the deadlineMissedFunc is called.
if(!PosixThread::delayUntil(&lastWakeTime,interval)) {
//No time left on timer -> we missed the deadline
missedDeadlineCounter();
}
}
//The device handler for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
}
// The task's "infinite" inner loop is entered.
while (1) {
if (pst.slotFollowsImmediately()) {
// Do nothing
} else {
// The interval for the next polling slot is selected.
interval = this->pst.getIntervalToPreviousSlotMs();
// The period is checked and restarted with the new interval.
// If the deadline was missed, the deadlineMissedFunc is called.
if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
// No time left on timer -> we missed the deadline
missedDeadlineCounter();
}
}
// The device handler for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
}
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl;
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount << " deadlines."
<< std::endl;
#endif
}
}
}

117
src/fsfw/osal/linux/FixedTimeslotTask.h
View File

@ -1,77 +1,76 @@
#ifndef FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#define FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
#include "PosixThread.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/FixedSlotSequence.h"
#include <pthread.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
public:
/**
* Create a generic periodic task.
* @param name_
* Name, maximum allowed size of linux is 16 chars, everything else will
* be truncated.
* @param priority_
* Real-time priority, ranges from 1 to 99 for Linux.
* See: https://man7.org/linux/man-pages/man7/sched.7.html
* @param stackSize_
* @param period_
* @param deadlineMissedFunc_
*/
FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
uint32_t periodMs_);
virtual ~FixedTimeslotTask();
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "PosixThread.h"
virtual ReturnValue_t startTask();
class FixedTimeslotTask : public FixedTimeslotTaskIF, public PosixThread {
public:
/**
* Create a generic periodic task.
* @param name_
* Name, maximum allowed size of linux is 16 chars, everything else will
* be truncated.
* @param priority_
* Real-time priority, ranges from 1 to 99 for Linux.
* See: https://man7.org/linux/man-pages/man7/sched.7.html
* @param stackSize_
* @param period_
* @param deadlineMissedFunc_
*/
FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
virtual ~FixedTimeslotTask();
virtual ReturnValue_t sleepFor(uint32_t ms);
virtual ReturnValue_t startTask();
virtual uint32_t getPeriodMs() const;
virtual ReturnValue_t sleepFor(uint32_t ms);
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
int8_t executionStep);
virtual uint32_t getPeriodMs() const;
virtual ReturnValue_t checkSequence() const;
virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
virtual ReturnValue_t checkSequence() const;
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
/**
* This static function can be used as #deadlineMissedFunc.
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
*/
static void missedDeadlineCounter();
protected:
/**
* @brief This function holds the main functionality of the thread.
* @details
* Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
virtual void taskFunctionality();
/**
* A helper variable to count missed deadlines.
*/
static uint32_t deadlineMissedCount;
private:
/**
* @brief This is the entry point in a new thread.
*
* @details
* This method, that is the entry point in the new thread and calls
* taskFunctionality of the child class. Needs a valid pointer to the
* derived class.
*
* The void* returnvalue is not used yet but could be used to return
* arbitrary data.
*/
static void* taskEntryPoint(void* arg);
FixedSlotSequence pst;
protected:
/**
* @brief This function holds the main functionality of the thread.
* @details
* Holding the main functionality of the task, this method is most important.
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
virtual void taskFunctionality();
bool started;
private:
/**
* @brief This is the entry point in a new thread.
*
* @details
* This method, that is the entry point in the new thread and calls
* taskFunctionality of the child class. Needs a valid pointer to the
* derived class.
*
* The void* returnvalue is not used yet but could be used to return
* arbitrary data.
*/
static void* taskEntryPoint(void* arg);
FixedSlotSequence pst;
bool started;
};
#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

12
src/fsfw/osal/linux/InternalErrorCodes.cpp
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@ -1,14 +1,10 @@
#include "fsfw/osal/InternalErrorCodes.h"
ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
//TODO This class can be removed
return HasReturnvaluesIF::RETURN_FAILED;
// TODO This class can be removed
return HasReturnvaluesIF::RETURN_FAILED;
}
InternalErrorCodes::InternalErrorCodes() {
}
InternalErrorCodes::~InternalErrorCodes() {
}
InternalErrorCodes::InternalErrorCodes() {}
InternalErrorCodes::~InternalErrorCodes() {}

635
src/fsfw/osal/linux/MessageQueue.cpp
View File

@ -1,392 +1,379 @@
#include "fsfw/osal/linux/MessageQueue.h"
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include <errno.h>
#include <fcntl.h> /* For O_* constants */
#include <sys/stat.h> /* For mode constants */
#include <cstring>
#include <fstream>
#include <fcntl.h> /* For O_* constants */
#include <sys/stat.h> /* For mode constants */
#include <cstring>
#include <errno.h>
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize)
: id(MessageQueueIF::NO_QUEUE),
lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE),
maxMessageSize(maxMessageSize) {
mq_attr attributes;
this->id = 0;
// Set attributes
attributes.mq_curmsgs = 0;
attributes.mq_maxmsg = messageDepth;
attributes.mq_msgsize = maxMessageSize;
attributes.mq_flags = 0; // Flags are ignored on Linux during mq_open
// Set the name of the queue. The slash is mandatory!
sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE), maxMessageSize(maxMessageSize) {
mq_attr attributes;
this->id = 0;
//Set attributes
attributes.mq_curmsgs = 0;
attributes.mq_maxmsg = messageDepth;
attributes.mq_msgsize = maxMessageSize;
attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
//Set the name of the queue. The slash is mandatory!
sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
// Create a nonblocking queue if the name is available (the queue is read
// and writable for the owner as well as the group)
int oflag = O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL;
mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
mqd_t tempId = mq_open(name, oflag, mode, &attributes);
if (tempId == -1) {
handleOpenError(&attributes, messageDepth);
}
else {
//Successful mq_open call
this->id = tempId;
}
// Create a nonblocking queue if the name is available (the queue is read
// and writable for the owner as well as the group)
int oflag = O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL;
mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
mqd_t tempId = mq_open(name, oflag, mode, &attributes);
if (tempId == -1) {
handleOpenError(&attributes, messageDepth);
} else {
// Successful mq_open call
this->id = tempId;
}
}
MessageQueue::~MessageQueue() {
int status = mq_close(this->id);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "close");
}
status = mq_unlink(name);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "unlink");
}
int status = mq_close(this->id);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "close");
}
status = mq_unlink(name);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "~MessageQueue", "unlink");
}
}
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault) {
return sendMessageFrom(sendTo, message, this->getId(), false);
}
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
return sendToDefaultFrom(message, this->getId());
return sendToDefaultFrom(message, this->getId());
}
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
if (this->lastPartner != 0) {
return sendMessageFrom(this->lastPartner, message, this->getId());
} else {
return NO_REPLY_PARTNER;
}
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner;
return status;
}
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
if(message == nullptr) {
if (message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receiveMessage: Message is "
"nullptr!" << std::endl;
sif::error << "MessageQueue::receiveMessage: Message is "
"nullptr!"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
if(message->getMaximumMessageSize() < maxMessageSize) {
if (message->getMaximumMessageSize() < maxMessageSize) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize()
<< " too small to receive data!" << std::endl;
sif::error << "MessageQueue::receiveMessage: Message size " << message->getMaximumMessageSize()
<< " too small to receive data!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
unsigned int messagePriority = 0;
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
message->getMaximumMessageSize(),&messagePriority);
if (status > 0) {
this->lastPartner = message->getSender();
//Check size of incoming message.
if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
else if (status==0) {
//Success but no message received
return MessageQueueIF::EMPTY;
}
else {
//No message was received. Keep lastPartner anyway, I might send
//something later. But still, delete packet content.
memset(message->getData(), 0, message->getMaximumDataSize());
switch(errno){
case EAGAIN:
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
//currently on the specified queue.
return MessageQueueIF::EMPTY;
case EBADF: {
//mqdes doesn't represent a valid queue open for reading.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EBADF");
break;
}
case EINVAL: {
/*
* This value indicates one of the following:
* - The pointer to the buffer for storing the received message,
* msg_ptr, is NULL.
* - The number of bytes requested, msg_len is less than zero.
* - msg_len is anything other than the mq_msgsize of the specified
* queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
* been set in the queue's mq_flags.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINVAL");
break;
}
case EMSGSIZE: {
/*
* This value indicates one of the following:
* - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
* and the given msg_len is shorter than the mq_msgsize for
* the given queue.
* - the extended option MQ_READBUF_DYNAMIC has been set, but the
* given msg_len is too short for the message that would have
* been received.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EMSGSIZE");
break;
}
case EINTR: {
//The operation was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINTR");
break;
}
case ETIMEDOUT: {
//The operation was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "ETIMEDOUT");
break;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
}
MessageQueueId_t MessageQueue::getLastPartner() const {
return this->lastPartner;
}
ReturnValue_t MessageQueue::flush(uint32_t* count) {
mq_attr attrib;
int status = mq_getattr(id,&attrib);
if(status != 0){
switch(errno){
case EBADF:
//mqdes doesn't represent a valid message queue.
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
break;
/*NO BREAK*/
case EINVAL:
//mq_attr is NULL
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
*count = attrib.mq_curmsgs;
attrib.mq_curmsgs = 0;
status = mq_setattr(id,&attrib,NULL);
if(status != 0){
switch(errno) {
case EBADF:
//mqdes doesn't represent a valid message queue.
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
break;
case EINVAL:
/*
* This value indicates one of the following:
* - mq_attr is NULL.
* - MQ_MULT_NOTIFY had been set for this queue, and the given
* mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
* MQ_MULT_NOTIFY has been turned on, it may never be turned off.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
unsigned int messagePriority = 0;
int status = mq_receive(id, reinterpret_cast<char*>(message->getBuffer()),
message->getMaximumMessageSize(), &messagePriority);
if (status > 0) {
this->lastPartner = message->getSender();
// Check size of incoming message.
if (message->getMessageSize() < message->getMinimumMessageSize()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
} else if (status == 0) {
// Success but no message received
return MessageQueueIF::EMPTY;
} else {
// No message was received. Keep lastPartner anyway, I might send
// something later. But still, delete packet content.
memset(message->getData(), 0, message->getMaximumDataSize());
switch (errno) {
case EAGAIN:
// O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
// currently on the specified queue.
return MessageQueueIF::EMPTY;
case EBADF: {
// mqdes doesn't represent a valid queue open for reading.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EBADF");
break;
}
case EINVAL: {
/*
* This value indicates one of the following:
* - The pointer to the buffer for storing the received message,
* msg_ptr, is NULL.
* - The number of bytes requested, msg_len is less than zero.
* - msg_len is anything other than the mq_msgsize of the specified
* queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
* been set in the queue's mq_flags.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINVAL");
break;
}
case EMSGSIZE: {
/*
* This value indicates one of the following:
* - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
* and the given msg_len is shorter than the mq_msgsize for
* the given queue.
* - the extended option MQ_READBUF_DYNAMIC has been set, but the
* given msg_len is too short for the message that would have
* been received.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EMSGSIZE");
break;
}
case EINTR: {
// The operation was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "EINTR");
break;
}
case ETIMEDOUT: {
// The operation was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "receiveMessage", "ETIMEDOUT");
break;
}
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
}
MessageQueueId_t MessageQueue::getId() const {
return this->id;
MessageQueueId_t MessageQueue::getLastPartner() const { return this->lastPartner; }
ReturnValue_t MessageQueue::flush(uint32_t* count) {
mq_attr attrib;
int status = mq_getattr(id, &attrib);
if (status != 0) {
switch (errno) {
case EBADF:
// mqdes doesn't represent a valid message queue.
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
break;
/*NO BREAK*/
case EINVAL:
// mq_attr is NULL
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
*count = attrib.mq_curmsgs;
attrib.mq_curmsgs = 0;
status = mq_setattr(id, &attrib, NULL);
if (status != 0) {
switch (errno) {
case EBADF:
// mqdes doesn't represent a valid message queue.
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EBADF");
break;
case EINVAL:
/*
* This value indicates one of the following:
* - mq_attr is NULL.
* - MQ_MULT_NOTIFY had been set for this queue, and the given
* mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
* MQ_MULT_NOTIFY has been turned on, it may never be turned off.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "flush", "EINVAL");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t MessageQueue::getId() const { return this->id; }
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
this->defaultDestination = defaultDestination;
this->defaultDestination = defaultDestination;
}
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
}
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault);
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
}
MessageQueueId_t MessageQueue::getDefaultDestination() const {
return this->defaultDestination;
}
MessageQueueId_t MessageQueue::getDefaultDestination() const { return this->defaultDestination; }
bool MessageQueue::isDefaultDestinationSet() const {
return (defaultDestination != NO_QUEUE);
}
bool MessageQueue::isDefaultDestinationSet() const { return (defaultDestination != NO_QUEUE); }
uint16_t MessageQueue::queueCounter = 0;
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
bool ignoreFault) {
if(message == nullptr) {
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom,
bool ignoreFault) {
if (message == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is nullptr!" << std::endl;
#else
sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
sif::printError("MessageQueue::sendMessageFromMessageQueue: Message is nullptr!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
message->setSender(sentFrom);
int result = mq_send(sendTo, reinterpret_cast<const char*>(message->getBuffer()),
message->getMessageSize(), 0);
// TODO: Check if we're in ISR.
if (result != 0) {
if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter =
ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
switch (errno) {
case EAGAIN:
// The O_NONBLOCK flag was set when opening the queue, or the
// MQ_NONBLOCK flag was set in its attributes, and the
// specified queue is full.
return MessageQueueIF::FULL;
case EBADF: {
// mq_des doesn't represent a valid message queue descriptor,
// or mq_des wasn't opened for writing.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "mq_send to " << sendTo << " sent from " << sentFrom << " failed"
<< std::endl;
#else
sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
#endif
return DESTINATION_INVALID;
}
case EINTR:
// The call was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINTR");
break;
case EINVAL:
/*
* This value indicates one of the following:
* - msg_ptr is NULL.
* - msg_len is negative.
* - msg_prio is greater than MQ_PRIO_MAX.
* - msg_prio is less than 0.
* - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
* msg_prio is greater than the priority of the calling process.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINVAL");
break;
case EMSGSIZE:
// The msg_len is greater than the msgsize associated with
// the specified queue.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EMSGSIZE");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
message->setSender(sentFrom);
int result = mq_send(sendTo,
reinterpret_cast<const char*>(message->getBuffer()),
message->getMessageSize(),0);
//TODO: Check if we're in ISR.
if (result != 0) {
if(!ignoreFault){
InternalErrorReporterIF* internalErrorReporter = ObjectManager::instance()->
get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent();
}
}
switch(errno){
case EAGAIN:
//The O_NONBLOCK flag was set when opening the queue, or the
//MQ_NONBLOCK flag was set in its attributes, and the
//specified queue is full.
return MessageQueueIF::FULL;
case EBADF: {
//mq_des doesn't represent a valid message queue descriptor,
//or mq_des wasn't opened for writing.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "mq_send to " << sendTo << " sent from "
<< sentFrom << " failed" << std::endl;
#else
sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
#endif
return DESTINATION_INVALID;
}
case EINTR:
//The call was interrupted by a signal.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINTR");
break;
case EINVAL:
/*
* This value indicates one of the following:
* - msg_ptr is NULL.
* - msg_len is negative.
* - msg_prio is greater than MQ_PRIO_MAX.
* - msg_prio is less than 0.
* - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
* msg_prio is greater than the priority of the calling process.
*/
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EINVAL");
break;
case EMSGSIZE:
// The msg_len is greater than the msgsize associated with
//the specified queue.
utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EMSGSIZE");
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes,
uint32_t messageDepth) {
switch(errno) {
case(EINVAL): {
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EINVAL");
size_t defaultMqMaxMsg = 0;
// Not POSIX conformant, but should work for all UNIX systems.
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes, uint32_t messageDepth) {
switch (errno) {
case (EINVAL): {
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EINVAL");
size_t defaultMqMaxMsg = 0;
// Not POSIX conformant, but should work for all UNIX systems.
// Just an additional helpful printout :-)
if (std::ifstream("/proc/sys/fs/mqueue/msg_max", std::ios::in) >> defaultMqMaxMsg and
defaultMqMaxMsg < messageDepth) {
/*
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
This happens if the msg_max value is not large enough
It is ignored if the executable is run in privileged mode.
Run the unlockRealtime script or grant the mode manually by using:
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Persistent solution for session:
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with: sudo sysctl -p
*/
Permanent solution:
sudo nano /etc/sysctl.conf
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
Apply changes with: sudo sysctl -p
*/
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg <<
" is too small for requested size " << messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!" << std::endl;
sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg
<< " is too small for requested size " << messageDepth << std::endl;
sif::error << "This error can be fixed by setting the maximum "
"allowed message size higher!"
<< std::endl;
#else
sif::printError("MessageQueue::MessageQueue: Default MQ size %d is too small for"
"requested size %d\n");
sif::printError("This error can be fixes by setting the maximum allowed"
"message size higher!\n");
sif::printError(
"MessageQueue::MessageQueue: Default MQ size %d is too small for"
"requested size %d\n");
sif::printError(
"This error can be fixes by setting the maximum allowed"
"message size higher!\n");
#endif
}
break;
}
break;
}
case(EEXIST): {
// An error occured during open.
// We need to distinguish if it is caused by an already created queue
// There's another queue with the same name
// We unlink the other queue
int status = mq_unlink(name);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EEXIST");
case (EEXIST): {
// An error occured during open.
// We need to distinguish if it is caused by an already created queue
// There's another queue with the same name
// We unlink the other queue
int status = mq_unlink(name);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "EEXIST");
} else {
// Successful unlinking, try to open again
mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
if (tempId != -1) {
// Successful mq_open
this->id = tempId;
return HasReturnvaluesIF::RETURN_OK;
}
else {
// Successful unlinking, try to open again
mqd_t tempId = mq_open(name,
O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
if (tempId != -1) {
//Successful mq_open
this->id = tempId;
return HasReturnvaluesIF::RETURN_OK;
}
}
break;
}
break;
}
default: {
// Failed either the first time or the second time
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "Unknown");
// Failed either the first time or the second time
utility::printUnixErrorGeneric(CLASS_NAME, "MessageQueue", "Unknown");
}
}
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}

312
src/fsfw/osal/linux/MessageQueue.h
View File

@ -1,11 +1,11 @@
#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
#include <mqueue.h>
#include "fsfw/internalerror/InternalErrorReporterIF.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/MessageQueueMessage.h"
#include <mqueue.h>
/**
* @brief This class manages sending and receiving of message queue messages.
*
@ -26,163 +26,169 @@
* @ingroup message_queue
*/
class MessageQueue : public MessageQueueIF {
friend class MessageQueueSenderIF;
public:
/**
* @brief The constructor initializes and configures the message queue.
* @details By making use of the according operating system call, a message queue is created
* and initialized. The message depth - the maximum number of messages to be
* buffered - may be set with the help of a parameter, whereas the message size is
* automatically set to the maximum message queue message size. The operating system
* sets the message queue id, or i case of failure, it is set to zero.
* @param message_depth The number of messages to be buffered before passing an error to the
* sender. Default is three.
* @param max_message_size With this parameter, the maximum message size can be adjusted.
* This should be left default.
*/
MessageQueue(uint32_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
/**
* @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system.
*/
virtual ~MessageQueue();
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
* queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault = false );
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
* @param message A pointer to a previously created message, which is sent.
*/
virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t reply( MessageQueueMessageIF* message );
friend class MessageQueueSenderIF;
/**
* @brief This function reads available messages from the message queue and returns the sender.
* @details It works identically to the other receiveMessage call, but in addition returns the
* sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom);
public:
/**
* @brief The constructor initializes and configures the message queue.
* @details By making use of the according operating system call, a message queue is created
* and initialized. The message depth - the maximum number of messages to be
* buffered - may be set with the help of a parameter, whereas the message size
* is automatically set to the maximum message queue message size. The operating system sets the
* message queue id, or i case of failure, it is set to zero.
* @param message_depth The number of messages to be buffered before passing an error to the
* sender. Default is three.
* @param max_message_size With this parameter, the maximum message size can be adjusted.
* This should be left default.
*/
MessageQueue(uint32_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
/**
* @brief The destructor deletes the formerly created message queue.
* @details This is accomplished by using the delete call provided by the operating system.
*/
virtual ~MessageQueue();
/**
* @brief This operation sends a message to the given destination.
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes
* its queue id as "sentFrom" parameter.
* @param sendTo This parameter specifies the message queue id of the destination message
* queue.
* @param message A pointer to a previously created message, which is sent.
* @param ignoreFault If set to true, the internal software fault counter is not incremented if
* queue is full.
*/
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
bool ignoreFault = false);
/**
* @brief This operation sends a message to the default destination.
* @details As in the sendMessage method, this function uses the sendToDefault call of the
* MessageQueueSender parent class and adds its queue id as "sentFrom"
* information.
* @param message A pointer to a previously created message, which is sent.
*/
virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message);
/**
* @brief This operation sends a message to the last communication partner.
* @details This operation simplifies answering an incoming message by using the stored
* lastParnter information as destination. If there was no message received yet
* (i.e. lastPartner is zero), an error code is returned.
* @param message A pointer to a previously created message, which is sent.
*/
ReturnValue_t reply(MessageQueueMessageIF* message);
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in the
* lastPartner attribute. Else, the lastPartner information remains untouched, the
* message's content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
* @return RETURN_OK on success.
*/
ReturnValue_t flush(uint32_t* count);
/**
* @brief This method returns the message queue id of the last communication partner.
*/
MessageQueueId_t getLastPartner() const;
/**
* @brief This method returns the message queue id of this class's message queue.
*/
MessageQueueId_t getId() const;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault = false );
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
/**
* \brief This method is a simple setter for the default destination.
*/
void setDefaultDestination(MessageQueueId_t defaultDestination);
/**
* \brief This method is a simple getter for the default destination.
*/
MessageQueueId_t getDefaultDestination() const;
/**
* @brief This function reads available messages from the message queue and returns the
* sender.
* @details It works identically to the other receiveMessage call, but in addition returns the
* sender's queue id.
* @param message A pointer to a message in which the received data is stored.
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message, MessageQueueId_t* receivedFrom);
bool isDefaultDestinationSet() const;
protected:
/**
* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
* \details This method takes the message provided, adds the sentFrom information and passes
* it on to the destination provided with an operating system call. The OS's return
* value is returned.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
* This variable is set to zero by default.
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false);
private:
/**
* @brief The class stores the queue id it got assigned from the operating system in this attribute.
* If initialization fails, the queue id is set to zero.
*/
MessageQueueId_t id;
/**
* @brief In this attribute, the queue id of the last communication partner is stored
* to allow for replying.
*/
MessageQueueId_t lastPartner;
/**
* @brief The message queue's name -a user specific information for the operating system- is
* generated automatically with the help of this static counter.
*/
/**
* \brief This attribute stores a default destination to send messages to.
* \details It is stored to simplify sending to always-the-same receiver. The attribute may
* be set in the constructor or by a setter call to setDefaultDestination.
*/
MessageQueueId_t defaultDestination;
/**
* @brief This function reads available messages from the message queue.
* @details If data is available it is stored in the passed message pointer. The message's
* original content is overwritten and the sendFrom information is stored in
* the lastPartner attribute. Else, the lastPartner information remains untouched, the message's
* content is cleared and the function returns immediately.
* @param message A pointer to a message in which the received data is stored.
*/
ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
/**
* Deletes all pending messages in the queue.
* @param count The number of flushed messages.
* @return RETURN_OK on success.
*/
ReturnValue_t flush(uint32_t* count);
/**
* @brief This method returns the message queue id of the last communication partner.
*/
MessageQueueId_t getLastPartner() const;
/**
* @brief This method returns the message queue id of this class's message queue.
*/
MessageQueueId_t getId() const;
/**
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
* \param sendTo This parameter specifies the message queue id to send the message to.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the
* message. This variable is set to zero by default. \param ignoreFault If set to true, the
* internal software fault counter is not incremented if queue is full.
*/
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault = false);
/**
* \brief The sendToDefault method sends a queue message to the default destination.
* \details In all other aspects, it works identical to the sendMessage method.
* \param message This is a pointer to a previously created message, which is sent.
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the
* message. This variable is set to zero by default.
*/
virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false);
/**
* \brief This method is a simple setter for the default destination.
*/
void setDefaultDestination(MessageQueueId_t defaultDestination);
/**
* \brief This method is a simple getter for the default destination.
*/
MessageQueueId_t getDefaultDestination() const;
/**
* The name of the message queue, stored for unlinking
*/
char name[16];
bool isDefaultDestinationSet() const;
static uint16_t queueCounter;
const size_t maxMessageSize;
protected:
/**
* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
* \details This method takes the message provided, adds the sentFrom information and
* passes it on to the destination provided with an operating system call. The OS's return value
* is returned. \param sendTo This parameter specifies the message queue id to send the message
* to. \param message This is a pointer to a previously created message, which is sent. \param
* sentFrom The sentFrom information can be set to inject the sender's queue id into the
* message. This variable is set to zero by default. \param ignoreFault If set to true, the
* internal software fault counter is not incremented if queue is full.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false);
static constexpr const char* CLASS_NAME = "MessageQueue";
ReturnValue_t handleOpenError(mq_attr* attributes, uint32_t messageDepth);
private:
/**
* @brief The class stores the queue id it got assigned from the operating system in this
* attribute. If initialization fails, the queue id is set to zero.
*/
MessageQueueId_t id;
/**
* @brief In this attribute, the queue id of the last communication partner is stored
* to allow for replying.
*/
MessageQueueId_t lastPartner;
/**
* @brief The message queue's name -a user specific information for the operating system- is
* generated automatically with the help of this static counter.
*/
/**
* \brief This attribute stores a default destination to send messages to.
* \details It is stored to simplify sending to always-the-same receiver. The attribute may
* be set in the constructor or by a setter call to setDefaultDestination.
*/
MessageQueueId_t defaultDestination;
/**
* The name of the message queue, stored for unlinking
*/
char name[16];
static uint16_t queueCounter;
const size_t maxMessageSize;
static constexpr const char* CLASS_NAME = "MessageQueue";
ReturnValue_t handleOpenError(mq_attr* attributes, uint32_t messageDepth);
};
#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */

180
src/fsfw/osal/linux/Mutex.cpp
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@ -1,110 +1,110 @@
#include "fsfw/osal/linux/Mutex.h"
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Clock.h"
#include <errno.h>
#include <cstring>
#include <errno.h>
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Clock.h"
uint8_t Mutex::count = 0;
Mutex::Mutex() {
pthread_mutexattr_t mutexAttr;
int status = pthread_mutexattr_init(&mutexAttr);
if (status != 0) {
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_init");
}
status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT);
if (status != 0) {
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_setprotocol");
}
status = pthread_mutex_init(&mutex, &mutexAttr);
if (status != 0) {
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutex_init");
}
// After a mutex attributes object has been used to initialize one or more
// mutexes, any function affecting the attributes object
// (including destruction) shall not affect any previously initialized mutexes.
status = pthread_mutexattr_destroy(&mutexAttr);
if (status != 0) {
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_destroy");
}
pthread_mutexattr_t mutexAttr;
int status = pthread_mutexattr_init(&mutexAttr);
if (status != 0) {
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_init");
}
status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT);
if (status != 0) {
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_setprotocol");
}
status = pthread_mutex_init(&mutex, &mutexAttr);
if (status != 0) {
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutex_init");
}
// After a mutex attributes object has been used to initialize one or more
// mutexes, any function affecting the attributes object
// (including destruction) shall not affect any previously initialized mutexes.
status = pthread_mutexattr_destroy(&mutexAttr);
if (status != 0) {
utility::printUnixErrorGeneric("Mutex", "Mutex", "pthread_mutexattr_destroy");
}
}
Mutex::~Mutex() {
//No Status check yet
pthread_mutex_destroy(&mutex);
// No Status check yet
pthread_mutex_destroy(&mutex);
}
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
int status = 0;
int status = 0;
if(timeoutType == TimeoutType::POLLING) {
status = pthread_mutex_trylock(&mutex);
}
else if (timeoutType == TimeoutType::WAITING) {
timespec timeOut;
clock_gettime(CLOCK_REALTIME, &timeOut);
uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
nseconds += timeoutMs * 1000000;
timeOut.tv_sec = nseconds / 1000000000;
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
status = pthread_mutex_timedlock(&mutex, &timeOut);
}
else if(timeoutType == TimeoutType::BLOCKING) {
status = pthread_mutex_lock(&mutex);
}
if (timeoutType == TimeoutType::POLLING) {
status = pthread_mutex_trylock(&mutex);
} else if (timeoutType == TimeoutType::WAITING) {
timespec timeOut;
clock_gettime(CLOCK_REALTIME, &timeOut);
uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
nseconds += timeoutMs * 1000000;
timeOut.tv_sec = nseconds / 1000000000;
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
status = pthread_mutex_timedlock(&mutex, &timeOut);
} else if (timeoutType == TimeoutType::BLOCKING) {
status = pthread_mutex_lock(&mutex);
}
switch (status) {
case EINVAL:
// The mutex was created with the protocol attribute having the value
// PTHREAD_PRIO_PROTECT and the calling thread's priority is higher
// than the mutex's current priority ceiling.
return WRONG_ATTRIBUTE_SETTING;
// The process or thread would have blocked, and the abs_timeout
// parameter specified a nanoseconds field value less than zero or
// greater than or equal to 1000 million.
// The value specified by mutex does not refer to an initialized mutex object.
//return MUTEX_NOT_FOUND;
case EBUSY:
// The mutex could not be acquired because it was already locked.
return MUTEX_ALREADY_LOCKED;
case ETIMEDOUT:
// The mutex could not be locked before the specified timeout expired.
return MUTEX_TIMEOUT;
case EAGAIN:
// The mutex could not be acquired because the maximum number of
// recursive locks for mutex has been exceeded.
return MUTEX_MAX_LOCKS;
case EDEADLK:
// A deadlock condition was detected or the current thread
// already owns the mutex.
return CURR_THREAD_ALREADY_OWNS_MUTEX;
case 0:
//Success
return HasReturnvaluesIF::RETURN_OK;
default:
return HasReturnvaluesIF::RETURN_FAILED;
};
switch (status) {
case EINVAL:
// The mutex was created with the protocol attribute having the value
// PTHREAD_PRIO_PROTECT and the calling thread's priority is higher
// than the mutex's current priority ceiling.
return WRONG_ATTRIBUTE_SETTING;
// The process or thread would have blocked, and the abs_timeout
// parameter specified a nanoseconds field value less than zero or
// greater than or equal to 1000 million.
// The value specified by mutex does not refer to an initialized mutex object.
// return MUTEX_NOT_FOUND;
case EBUSY:
// The mutex could not be acquired because it was already locked.
return MUTEX_ALREADY_LOCKED;
case ETIMEDOUT:
// The mutex could not be locked before the specified timeout expired.
return MUTEX_TIMEOUT;
case EAGAIN:
// The mutex could not be acquired because the maximum number of
// recursive locks for mutex has been exceeded.
return MUTEX_MAX_LOCKS;
case EDEADLK:
// A deadlock condition was detected or the current thread
// already owns the mutex.
return CURR_THREAD_ALREADY_OWNS_MUTEX;
case 0:
// Success
return HasReturnvaluesIF::RETURN_OK;
default:
return HasReturnvaluesIF::RETURN_FAILED;
};
}
ReturnValue_t Mutex::unlockMutex() {
int status = pthread_mutex_unlock(&mutex);
switch (status) {
case EINVAL:
//The value specified by mutex does not refer to an initialized mutex object.
return MUTEX_NOT_FOUND;
case EAGAIN:
//The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded.
return MUTEX_MAX_LOCKS;
case EPERM:
//The current thread does not own the mutex.
return CURR_THREAD_DOES_NOT_OWN_MUTEX;
case 0:
//Success
return HasReturnvaluesIF::RETURN_OK;
default:
return HasReturnvaluesIF::RETURN_FAILED;
};
int status = pthread_mutex_unlock(&mutex);
switch (status) {
case EINVAL:
// The value specified by mutex does not refer to an initialized mutex object.
return MUTEX_NOT_FOUND;
case EAGAIN:
// The mutex could not be acquired because the maximum number of recursive locks for mutex has
// been exceeded.
return MUTEX_MAX_LOCKS;
case EPERM:
// The current thread does not own the mutex.
return CURR_THREAD_DOES_NOT_OWN_MUTEX;
case 0:
// Success
return HasReturnvaluesIF::RETURN_OK;
default:
return HasReturnvaluesIF::RETURN_FAILED;
};
}

20
src/fsfw/osal/linux/Mutex.h
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@ -1,18 +1,20 @@
#ifndef FSFW_OSAL_LINUX_MUTEX_H_
#define FSFW_OSAL_LINUX_MUTEX_H_
#include "../../ipc/MutexIF.h"
#include <pthread.h>
#include "../../ipc/MutexIF.h"
class Mutex : public MutexIF {
public:
Mutex();
virtual ~Mutex();
virtual ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs);
virtual ReturnValue_t unlockMutex();
private:
pthread_mutex_t mutex;
static uint8_t count;
public:
Mutex();
virtual ~Mutex();
virtual ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs);
virtual ReturnValue_t unlockMutex();
private:
pthread_mutex_t mutex;
static uint8_t count;
};
#endif /* OS_RTEMS_MUTEX_H_ */

24
src/fsfw/osal/linux/MutexFactory.cpp
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@ -1,24 +1,16 @@
#include "fsfw/osal/linux/Mutex.h"
#include "fsfw/ipc/MutexFactory.h"
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
#include "fsfw/osal/linux/Mutex.h"
// TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
MutexFactory::MutexFactory() {
}
MutexFactory::MutexFactory() {}
MutexFactory::~MutexFactory() {
}
MutexFactory::~MutexFactory() {}
MutexFactory* MutexFactory::instance() {
return MutexFactory::factoryInstance;
}
MutexFactory* MutexFactory::instance() { return MutexFactory::factoryInstance; }
MutexIF* MutexFactory::createMutex() {
return new Mutex();
}
MutexIF* MutexFactory::createMutex() { return new Mutex(); }
void MutexFactory::deleteMutex(MutexIF* mutex) {
delete mutex;
}
void MutexFactory::deleteMutex(MutexIF* mutex) { delete mutex; }

105
src/fsfw/osal/linux/PeriodicPosixTask.cpp
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@ -1,83 +1,82 @@
#include "fsfw/osal/linux/PeriodicPosixTask.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <errno.h>
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
PosixThread(name_, priority_, stackSize_), objectList(), started(false),
periodMs(period_), deadlineMissedFunc(deadlineMissedFunc_) {
}
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
uint32_t period_, void(deadlineMissedFunc_)())
: PosixThread(name_, priority_, stackSize_),
objectList(),
started(false),
periodMs(period_),
deadlineMissedFunc(deadlineMissedFunc_) {}
PeriodicPosixTask::~PeriodicPosixTask() {
//Not Implemented
// Not Implemented
}
void* PeriodicPosixTask::taskEntryPoint(void* arg) {
//The argument is re-interpreted as PollingTask.
PeriodicPosixTask *originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
//The task's functionality is called.
originalTask->taskFunctionality();
return NULL;
// The argument is re-interpreted as PollingTask.
PeriodicPosixTask* originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
// The task's functionality is called.
originalTask->taskFunctionality();
return NULL;
}
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(
object);
if (newObject == nullptr) {
ExecutableObjectIF* newObject = ObjectManager::instance()->get<ExecutableObjectIF>(object);
if (newObject == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
<< " it implements ExecutableObjectIF!" << std::endl;
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");
sif::printError(
"PeriodicTask::addComponent: Invalid object. Make sure it "
"implements ExecutableObjectIF!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_FAILED;
}
objectList.push_back(newObject);
newObject->setTaskIF(this);
return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
return PosixThread::sleep((uint64_t)ms*1000000);
return PosixThread::sleep((uint64_t)ms * 1000000);
}
ReturnValue_t PeriodicPosixTask::startTask(void) {
started = true;
PosixThread::createTask(&taskEntryPoint,this);
return HasReturnvaluesIF::RETURN_OK;
started = true;
PosixThread::createTask(&taskEntryPoint, this);
return HasReturnvaluesIF::RETURN_OK;
}
void PeriodicPosixTask::taskFunctionality(void) {
if(not started) {
suspend();
}
if (not started) {
suspend();
}
for (auto const &object: objectList) {
object->initializeAfterTaskCreation();
}
for (auto const& object : objectList) {
object->initializeAfterTaskCreation();
}
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
//The task's "infinite" inner loop is entered.
while (1) {
for (auto const &object: objectList) {
object->performOperation();
}
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
// The task's "infinite" inner loop is entered.
while (1) {
for (auto const& object : objectList) {
object->performOperation();
}
if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
if (not PosixThread::delayUntil(&lastWakeTime, periodMs)) {
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
}
}
uint32_t PeriodicPosixTask::getPeriodMs() const {
return periodMs;
}
uint32_t PeriodicPosixTask::getPeriodMs() const { return periodMs; }

150
src/fsfw/osal/linux/PeriodicPosixTask.h
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@ -1,90 +1,90 @@
#ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
#define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
#include "../../tasks/PeriodicTaskIF.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "PosixThread.h"
#include "../../tasks/ExecutableObjectIF.h"
#include <vector>
class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
public:
/**
* Create a generic periodic task.
* @param name_
* Name, maximum allowed size of linux is 16 chars, everything else will
* be truncated.
* @param priority_
* Real-time priority, ranges from 1 to 99 for Linux.
* See: https://man7.org/linux/man-pages/man7/sched.7.html
* @param stackSize_
* @param period_
* @param deadlineMissedFunc_
*/
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
uint32_t period_, void(*deadlineMissedFunc_)());
virtual ~PeriodicPosixTask();
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../tasks/ExecutableObjectIF.h"
#include "../../tasks/PeriodicTaskIF.h"
#include "PosixThread.h"
/**
* @brief The method to start the task.
* @details The method starts the task with the respective system call.
* Entry point is the taskEntryPoint method described below.
* The address of the task object is passed as an argument
* to the system call.
*/
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;
class PeriodicPosixTask : public PosixThread, public PeriodicTaskIF {
public:
/**
* Create a generic periodic task.
* @param name_
* Name, maximum allowed size of linux is 16 chars, everything else will
* be truncated.
* @param priority_
* Real-time priority, ranges from 1 to 99 for Linux.
* See: https://man7.org/linux/man-pages/man7/sched.7.html
* @param stackSize_
* @param period_
* @param deadlineMissedFunc_
*/
PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_,
void (*deadlineMissedFunc_)());
virtual ~PeriodicPosixTask();
uint32_t getPeriodMs() const override;
/**
* @brief The method to start the task.
* @details The method starts the task with the respective system call.
* Entry point is the taskEntryPoint method described below.
* The address of the task object is passed as an argument
* to the system call.
*/
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;
ReturnValue_t sleepFor(uint32_t ms) override;
uint32_t getPeriodMs() const override;
private:
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
/**
* @brief This attribute holds a list of objects to be executed.
*/
ObjectList objectList;
ReturnValue_t sleepFor(uint32_t ms) override;
/**
* @brief Flag to indicate that the task was started and is allowed to run
*/
bool started;
private:
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 Flag to indicate that the task was started and is allowed to run
*/
bool started;
/**
* @brief Period of the task in milliseconds
*/
uint32_t periodMs;
/**
* @brief The function containing the actual functionality of the task.
* @details The method sets and starts
* the task's period, then enters a loop that is repeated indefinitely. Within the loop, all performOperation methods of the added
* objects are called. Afterwards the task will be blocked until the next period.
* On missing the deadline, the deadlineMissedFunction is executed.
*/
virtual void taskFunctionality(void);
/**
* @brief This is the entry point in a new thread.
*
* @details This method, that is the entry point in the new thread and calls taskFunctionality of the child class.
* Needs a valid pointer to the derived class.
*/
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)();
/**
* @brief Period of the task in milliseconds
*/
uint32_t periodMs;
/**
* @brief The function containing the actual functionality of the task.
* @details The method sets and starts
* the task's period, then enters a loop that is repeated indefinitely. Within the loop,
* all performOperation methods of the added objects are called. Afterwards the task will be
* blocked until the next period. On missing the deadline, the deadlineMissedFunction is executed.
*/
virtual void taskFunctionality(void);
/**
* @brief This is the entry point in a new thread.
*
* @details This method, that is the entry point in the new thread and calls taskFunctionality
* of the child class. Needs a valid pointer to the derived class.
*/
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_ */

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src/fsfw/osal/linux/PosixThread.cpp
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@ -1,246 +1,245 @@
#include "fsfw/osal/linux/PosixThread.h"
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstring>
#include <errno.h>
PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
thread(0), priority(priority_), stackSize(stackSize_) {
name[0] = '\0';
std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
#include <cstring>
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_)
: thread(0), priority(priority_), stackSize(stackSize_) {
name[0] = '\0';
std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
}
PosixThread::~PosixThread() {
//No deletion and no free of Stack Pointer
// No deletion and no free of Stack Pointer
}
ReturnValue_t PosixThread::sleep(uint64_t ns) {
//TODO sleep might be better with timer instead of sleep()
timespec time;
time.tv_sec = ns/1000000000;
time.tv_nsec = ns - time.tv_sec*1e9;
//Remaining Time is not set here
int status = nanosleep(&time,NULL);
if(status != 0){
switch(errno){
case EINTR:
//The nanosleep() function was interrupted by a signal.
return HasReturnvaluesIF::RETURN_FAILED;
case EINVAL:
//The rqtp argument specified a nanosecond value less than zero or
// greater than or equal to 1000 million.
return HasReturnvaluesIF::RETURN_FAILED;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
// TODO sleep might be better with timer instead of sleep()
timespec time;
time.tv_sec = ns / 1000000000;
time.tv_nsec = ns - time.tv_sec * 1e9;
// Remaining Time is not set here
int status = nanosleep(&time, NULL);
if (status != 0) {
switch (errno) {
case EINTR:
// The nanosleep() function was interrupted by a signal.
return HasReturnvaluesIF::RETURN_FAILED;
case EINVAL:
// The rqtp argument specified a nanosecond value less than zero or
// greater than or equal to 1000 million.
return HasReturnvaluesIF::RETURN_FAILED;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
return HasReturnvaluesIF::RETURN_OK;
}
void PosixThread::suspend() {
//Wait for SIGUSR1
int caughtSig = 0;
sigset_t waitSignal;
sigemptyset(&waitSignal);
sigaddset(&waitSignal, SIGUSR1);
sigwait(&waitSignal, &caughtSig);
if (caughtSig != SIGUSR1) {
// Wait for SIGUSR1
int caughtSig = 0;
sigset_t waitSignal;
sigemptyset(&waitSignal);
sigaddset(&waitSignal, SIGUSR1);
sigwait(&waitSignal, &caughtSig);
if (caughtSig != SIGUSR1) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FixedTimeslotTask::suspend: Unknown Signal received: " << caughtSig <<
std::endl;
sif::error << "FixedTimeslotTask::suspend: Unknown Signal received: " << caughtSig << std::endl;
#else
sif::printError("FixedTimeslotTask::suspend: Unknown Signal received: %d\n", caughtSig);
sif::printError("FixedTimeslotTask::suspend: Unknown Signal received: %d\n", caughtSig);
#endif
}
}
void PosixThread::resume() {
/* Signal the thread to start. Makes sense to call kill to start or? ;)
*
* According to Posix raise(signal) will call pthread_kill(pthread_self(), sig),
* but as the call must be done from the thread itsself this is not possible here
*/
pthread_kill(thread, SIGUSR1);
}
bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms, const uint64_t delayTime_ms) {
uint64_t nextTimeToWake_ms;
bool shouldDelay = false;
// Get current Time
const uint64_t currentTime_ms = getCurrentMonotonicTimeMs();
/* Generate the tick time at which the task wants to wake. */
nextTimeToWake_ms = (*prevoiusWakeTime_ms) + delayTime_ms;
if (currentTime_ms < *prevoiusWakeTime_ms) {
/* The tick count has overflowed since this function was
lasted called. In this case the only time we should ever
actually delay is if the wake time has also overflowed,
and the wake time is greater than the tick time. When this
is the case it is as if neither time had overflowed. */
if ((nextTimeToWake_ms < *prevoiusWakeTime_ms) && (nextTimeToWake_ms > currentTime_ms)) {
shouldDelay = true;
}
}
void PosixThread::resume(){
/* Signal the thread to start. Makes sense to call kill to start or? ;)
*
* According to Posix raise(signal) will call pthread_kill(pthread_self(), sig),
* but as the call must be done from the thread itsself this is not possible here
*/
pthread_kill(thread,SIGUSR1);
}
bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
const uint64_t delayTime_ms) {
uint64_t nextTimeToWake_ms;
bool shouldDelay = false;
//Get current Time
const uint64_t currentTime_ms = getCurrentMonotonicTimeMs();
/* Generate the tick time at which the task wants to wake. */
nextTimeToWake_ms = (*prevoiusWakeTime_ms) + delayTime_ms;
if (currentTime_ms < *prevoiusWakeTime_ms) {
/* The tick count has overflowed since this function was
lasted called. In this case the only time we should ever
actually delay is if the wake time has also overflowed,
and the wake time is greater than the tick time. When this
is the case it is as if neither time had overflowed. */
if ((nextTimeToWake_ms < *prevoiusWakeTime_ms)
&& (nextTimeToWake_ms > currentTime_ms)) {
shouldDelay = true;
}
} else {
/* The tick time has not overflowed. In this case we will
delay if either the wake time has overflowed, and/or the
tick time is less than the wake time. */
if ((nextTimeToWake_ms < *prevoiusWakeTime_ms)
|| (nextTimeToWake_ms > currentTime_ms)) {
shouldDelay = true;
}
} else {
/* The tick time has not overflowed. In this case we will
delay if either the wake time has overflowed, and/or the
tick time is less than the wake time. */
if ((nextTimeToWake_ms < *prevoiusWakeTime_ms) || (nextTimeToWake_ms > currentTime_ms)) {
shouldDelay = true;
}
}
/* Update the wake time ready for the next call. */
/* Update the wake time ready for the next call. */
(*prevoiusWakeTime_ms) = nextTimeToWake_ms;
if (shouldDelay) {
uint64_t sleepTime = nextTimeToWake_ms - currentTime_ms;
PosixThread::sleep(sleepTime * 1000000ull);
return true;
}
//We are shifting the time in case the deadline was missed like rtems
(*prevoiusWakeTime_ms) = currentTime_ms;
return false;
(*prevoiusWakeTime_ms) = nextTimeToWake_ms;
if (shouldDelay) {
uint64_t sleepTime = nextTimeToWake_ms - currentTime_ms;
PosixThread::sleep(sleepTime * 1000000ull);
return true;
}
// We are shifting the time in case the deadline was missed like rtems
(*prevoiusWakeTime_ms) = currentTime_ms;
return false;
}
uint64_t PosixThread::getCurrentMonotonicTimeMs() {
timespec timeNow;
clock_gettime(CLOCK_MONOTONIC_RAW, &timeNow);
uint64_t currentTime_ms = (uint64_t)timeNow.tv_sec * 1000 + timeNow.tv_nsec / 1000000;
uint64_t PosixThread::getCurrentMonotonicTimeMs(){
timespec timeNow;
clock_gettime(CLOCK_MONOTONIC_RAW, &timeNow);
uint64_t currentTime_ms = (uint64_t) timeNow.tv_sec * 1000
+ timeNow.tv_nsec / 1000000;
return currentTime_ms;
return currentTime_ms;
}
void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
//sif::debug << "PosixThread::createTask" << std::endl;
// sif::debug << "PosixThread::createTask" << std::endl;
#endif
/*
* The attr argument points to a pthread_attr_t structure whose contents
are used at thread creation time to determine attributes for the new
thread; this structure is initialized using pthread_attr_init(3) and
related functions. If attr is NULL, then the thread is created with
default attributes.
*/
pthread_attr_t attributes;
int status = pthread_attr_init(&attributes);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_init");
}
void* stackPointer;
status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
if(status != 0) {
if(errno == ENOMEM) {
size_t stackMb = stackSize/10e6;
/*
* The attr argument points to a pthread_attr_t structure whose contents
are used at thread creation time to determine attributes for the new
thread; this structure is initialized using pthread_attr_init(3) and
related functions. If attr is NULL, then the thread is created with
default attributes.
*/
pthread_attr_t attributes;
int status = pthread_attr_init(&attributes);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_init");
}
void* stackPointer;
status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
if (status != 0) {
if (errno == ENOMEM) {
size_t stackMb = stackSize / 10e6;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Insufficient memory for"
" the requested " << stackMb << " MB" << std::endl;
sif::error << "PosixThread::createTask: Insufficient memory for"
" the requested "
<< stackMb << " MB" << std::endl;
#else
sif::printError("PosixThread::createTask: Insufficient memory for "
"the requested %lu MB\n", static_cast<unsigned long>(stackMb));
sif::printError(
"PosixThread::createTask: Insufficient memory for "
"the requested %lu MB\n",
static_cast<unsigned long>(stackMb));
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "ENOMEM");
}
else if(errno == EINVAL) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "ENOMEM");
} else if (errno == EINVAL) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PosixThread::createTask: Wrong alignment argument!"
<< std::endl;
sif::error << "PosixThread::createTask: Wrong alignment argument!" << std::endl;
#else
sif::printError("PosixThread::createTask: Wrong alignment argument!\n");
sif::printError("PosixThread::createTask: Wrong alignment argument!\n");
#endif
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "EINVAL");
}
return;
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "EINVAL");
}
return;
}
status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
if(status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setstack");
status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setstack");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size." << std::endl;
sif::warning << "Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size."
<< std::endl;
#else
sif::printWarning("Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size.\n");
sif::printWarning(
"Make sure the specified stack size is valid and is "
"larger than the minimum allowed stack size.\n");
#endif
}
}
status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setinheritsched");
}
status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setinheritsched");
}
#ifndef FSFW_USE_REALTIME_FOR_LINUX
#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
#endif
#if FSFW_USE_REALTIME_FOR_LINUX == 1
// FIFO -> This needs root privileges for the process
status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
}
// FIFO -> This needs root privileges for the process
status = pthread_attr_setschedpolicy(&attributes, SCHED_FIFO);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
}
sched_param scheduleParams;
scheduleParams.__sched_priority = priority;
status = pthread_attr_setschedparam(&attributes, &scheduleParams);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
}
sched_param scheduleParams;
scheduleParams.__sched_priority = priority;
status = pthread_attr_setschedparam(&attributes, &scheduleParams);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
}
#endif
//Set Signal Mask for suspend until startTask is called
sigset_t waitSignal;
sigemptyset(&waitSignal);
sigaddset(&waitSignal, SIGUSR1);
status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_sigmask");
}
// Set Signal Mask for suspend until startTask is called
sigset_t waitSignal;
sigemptyset(&waitSignal);
sigaddset(&waitSignal, SIGUSR1);
status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_sigmask");
}
status = pthread_create(&thread,&attributes,fnc_,arg_);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_create");
status = pthread_create(&thread, &attributes, fnc_, arg_);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_create");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " <<
"\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf" << std::endl;
sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
<< "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf"
<< std::endl;
#else
sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
"\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf\n");
sif::printError(
"For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
"\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
"/etc/security/limit.conf\n");
#endif
}
}
status = pthread_setname_np(thread,name);
if(status != 0){
status = pthread_setname_np(thread, name);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_setname_np");
if (status == ERANGE) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PosixThread::createTask: Task name length longer"
" than 16 chars. Truncating.."
<< std::endl;
#else
sif::printWarning(
"PosixThread::createTask: Task name length longer"
" than 16 chars. Truncating..\n");
#endif
name[15] = '\0';
status = pthread_setname_np(thread, name);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_setname_np");
if(status == ERANGE) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PosixThread::createTask: Task name length longer"
" than 16 chars. Truncating.." << std::endl;
#else
sif::printWarning("PosixThread::createTask: Task name length longer"
" than 16 chars. Truncating..\n");
#endif
name[15] = '\0';
status = pthread_setname_np(thread,name);
if(status != 0){
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_setname_np");
}
}
}
}
}
status = pthread_attr_destroy(&attributes);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
}
status = pthread_attr_destroy(&attributes);
if (status != 0) {
utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_destroy");
}
}

124
src/fsfw/osal/linux/PosixThread.h
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@ -1,79 +1,81 @@
#ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
#define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include <pthread.h>
#include <signal.h>
#include <cstdlib>
#include <unistd.h>
#include <cstdlib>
#include "../../returnvalues/HasReturnvaluesIF.h"
class PosixThread {
public:
static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
PosixThread(const char* name_, int priority_, size_t stackSize_);
virtual ~PosixThread();
/**
* Set the Thread to sleep state
* @param ns Nanosecond sleep time
* @return Returns Failed if sleep fails
*/
static ReturnValue_t sleep(uint64_t ns);
/**
* @brief Function to suspend the task until SIGUSR1 was received
*
* @details Will be called in the beginning to suspend execution until startTask() is called explicitly.
*/
void suspend();
public:
static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
PosixThread(const char* name_, int priority_, size_t stackSize_);
virtual ~PosixThread();
/**
* Set the Thread to sleep state
* @param ns Nanosecond sleep time
* @return Returns Failed if sleep fails
*/
static ReturnValue_t sleep(uint64_t ns);
/**
* @brief Function to suspend the task until SIGUSR1 was received
*
* @details Will be called in the beginning to suspend execution until startTask() is called
* explicitly.
*/
void suspend();
/**
* @brief Function to allow a other thread to start the thread again from suspend state
*
* @details Restarts the Thread after suspend call
*/
void resume();
/**
* @brief Function to allow a other thread to start the thread again from suspend state
*
* @details Restarts the Thread after suspend call
*/
void resume();
/**
* Delay function similar to FreeRtos delayUntil function
*
* @param prevoiusWakeTime_ms Needs the previous wake time and returns the next wakeup time
* @param delayTime_ms Time period to delay
*
* @return False If deadline was missed; True if task was delayed
*/
static bool delayUntil(uint64_t* const prevoiusWakeTime_ms, const uint64_t delayTime_ms);
/**
* Delay function similar to FreeRtos delayUntil function
*
* @param prevoiusWakeTime_ms Needs the previous wake time and returns the next wakeup time
* @param delayTime_ms Time period to delay
*
* @return False If deadline was missed; True if task was delayed
*/
static bool delayUntil(uint64_t* const prevoiusWakeTime_ms, const uint64_t delayTime_ms);
/**
* Returns the current time in milliseconds from CLOCK_MONOTONIC
*
* @return current time in milliseconds from CLOCK_MONOTONIC
*/
static uint64_t getCurrentMonotonicTimeMs();
/**
* Returns the current time in milliseconds from CLOCK_MONOTONIC
*
* @return current time in milliseconds from CLOCK_MONOTONIC
*/
static uint64_t getCurrentMonotonicTimeMs();
protected:
pthread_t thread;
protected:
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_);
/**
* @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:
char name[PTHREAD_MAX_NAMELEN];
int priority;
size_t stackSize = 0;
private:
char name[PTHREAD_MAX_NAMELEN];
int priority;
size_t stackSize = 0;
static constexpr const char* CLASS_NAME = "PosixThread";
static constexpr const char* CLASS_NAME = "PosixThread";
};
#endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */

45
src/fsfw/osal/linux/QueueFactory.cpp
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@ -1,42 +1,35 @@
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/osal/linux/MessageQueue.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include "fsfw/ipc/MessageQueueSenderIF.h"
#include <mqueue.h>
#include <errno.h>
#include <mqueue.h>
#include <cstring>
#include "fsfw/ipc/MessageQueueSenderIF.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include "fsfw/osal/linux/MessageQueue.h"
QueueFactory* QueueFactory::factoryInstance = nullptr;
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
sentFrom,ignoreFault);
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom, bool ignoreFault) {
return MessageQueue::sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
}
QueueFactory* QueueFactory::instance() {
if (factoryInstance == nullptr) {
factoryInstance = new QueueFactory;
}
return factoryInstance;
if (factoryInstance == nullptr) {
factoryInstance = new QueueFactory;
}
return factoryInstance;
}
QueueFactory::QueueFactory() {
QueueFactory::QueueFactory() {}
QueueFactory::~QueueFactory() {}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize) {
return new MessageQueue(messageDepth, maxMessageSize);
}
QueueFactory::~QueueFactory() {
}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
size_t maxMessageSize) {
return new MessageQueue(messageDepth, maxMessageSize);
}
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
delete queue;
}
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) { delete queue; }

31
src/fsfw/osal/linux/SemaphoreFactory.cpp
View File

@ -1,33 +1,28 @@
#include "fsfw/tasks/SemaphoreFactory.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/osal/linux/CountingSemaphore.h"
#include "fsfw/tasks/SemaphoreFactory.h"
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
SemaphoreFactory::SemaphoreFactory() {
}
SemaphoreFactory::SemaphoreFactory() {}
SemaphoreFactory::~SemaphoreFactory() {
delete factoryInstance;
}
SemaphoreFactory::~SemaphoreFactory() { delete factoryInstance; }
SemaphoreFactory* SemaphoreFactory::instance() {
if (factoryInstance == nullptr){
factoryInstance = new SemaphoreFactory();
}
return SemaphoreFactory::factoryInstance;
if (factoryInstance == nullptr) {
factoryInstance = new SemaphoreFactory();
}
return SemaphoreFactory::factoryInstance;
}
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
return new BinarySemaphore();
return new BinarySemaphore();
}
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
uint8_t initCount, uint32_t arguments) {
return new CountingSemaphore(maxCount, initCount);
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount, uint8_t initCount,
uint32_t arguments) {
return new CountingSemaphore(maxCount, initCount);
}
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
delete semaphore;
}
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) { delete semaphore; }

78
src/fsfw/osal/linux/TaskFactory.cpp
View File

@ -1,65 +1,55 @@
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/osal/linux/FixedTimeslotTask.h"
#include "fsfw/osal/linux/PeriodicPosixTask.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
//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() {
TaskFactory::~TaskFactory() {}
TaskFactory* TaskFactory::instance() { return TaskFactory::factoryInstance; }
PeriodicTaskIF* TaskFactory::createPeriodicTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
return new PeriodicPosixTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000,
deadLineMissedFunction_);
}
TaskFactory* TaskFactory::instance() {
return TaskFactory::factoryInstance;
}
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
TaskPriority taskPriority_,TaskStackSize stackSize_,
TaskPeriod periodInSeconds_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return new PeriodicPosixTask(name_, taskPriority_,stackSize_,
periodInSeconds_ * 1000, deadLineMissedFunction_);
}
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
TaskPriority taskPriority_,TaskStackSize stackSize_,
TaskPeriod periodInSeconds_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return new FixedTimeslotTask(name_, taskPriority_,stackSize_,
periodInSeconds_*1000);
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(
TaskName name_, TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod periodInSeconds_, TaskDeadlineMissedFunction deadLineMissedFunction_) {
return new FixedTimeslotTask(name_, taskPriority_, stackSize_, periodInSeconds_ * 1000);
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
//TODO not implemented
return HasReturnvaluesIF::RETURN_FAILED;
// TODO not implemented
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
return PosixThread::sleep(delayMs*1000000ull);
ReturnValue_t TaskFactory::delayTask(uint32_t delayMs) {
return PosixThread::sleep(delayMs * 1000000ull);
}
void TaskFactory::printMissedDeadline() {
char name[20] = {0};
int status = pthread_getname_np(pthread_self(), name, sizeof(name));
char name[20] = {0};
int status = pthread_getname_np(pthread_self(), name, sizeof(name));
#if FSFW_CPP_OSTREAM_ENABLED == 1
if(status == 0) {
sif::warning << "task::printMissedDeadline: " << name << "" << std::endl;
}
else {
sif::warning << "task::printMissedDeadline: Unknown task name" << status <<
std::endl;
}
if (status == 0) {
sif::warning << "task::printMissedDeadline: " << name << "" << std::endl;
} else {
sif::warning << "task::printMissedDeadline: Unknown task name" << status << std::endl;
}
#else
if(status == 0) {
sif::printWarning("task::printMissedDeadline: %s\n", name);
}
else {
sif::printWarning("task::printMissedDeadline: Unknown task name\n", name);
}
if (status == 0) {
sif::printWarning("task::printMissedDeadline: %s\n", name);
} else {
sif::printWarning("task::printMissedDeadline: Unknown task name\n", name);
}
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
}
TaskFactory::TaskFactory() {
}
TaskFactory::TaskFactory() {}

151
src/fsfw/osal/linux/tcpipHelpers.cpp
View File

@ -1,109 +1,110 @@
#include "fsfw/osal/common/tcpipHelpers.h"
#include <errno.h>
#include <string>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/TaskFactory.h"
#include <errno.h>
#include <string>
void tcpip::handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration) {
int errCode = errno;
std::string protocolString;
std::string errorSrcString;
determineErrorStrings(protocol, errorSrc, protocolString, errorSrcString);
std::string infoString;
switch(errCode) {
case(EACCES): {
infoString = "EACCES";
break;
int errCode = errno;
std::string protocolString;
std::string errorSrcString;
determineErrorStrings(protocol, errorSrc, protocolString, errorSrcString);
std::string infoString;
switch (errCode) {
case (EACCES): {
infoString = "EACCES";
break;
}
case(EINVAL): {
infoString = "EINVAL";
break;
case (EINVAL): {
infoString = "EINVAL";
break;
}
case(EAGAIN): {
infoString = "EAGAIN";
break;
case (EAGAIN): {
infoString = "EAGAIN";
break;
}
case(EMFILE): {
infoString = "EMFILE";
break;
case (EMFILE): {
infoString = "EMFILE";
break;
}
case(ENFILE): {
infoString = "ENFILE";
break;
case (ENFILE): {
infoString = "ENFILE";
break;
}
case(EAFNOSUPPORT): {
infoString = "EAFNOSUPPORT";
break;
case (EAFNOSUPPORT): {
infoString = "EAFNOSUPPORT";
break;
}
case(ENOBUFS): {
infoString = "ENOBUFS";
break;
case (ENOBUFS): {
infoString = "ENOBUFS";
break;
}
case(ENOMEM): {
infoString = "ENOMEM";
break;
case (ENOMEM): {
infoString = "ENOMEM";
break;
}
case(EPROTONOSUPPORT): {
infoString = "EPROTONOSUPPORT";
break;
case (EPROTONOSUPPORT): {
infoString = "EPROTONOSUPPORT";
break;
}
case(EADDRINUSE): {
infoString = "EADDRINUSE";
break;
case (EADDRINUSE): {
infoString = "EADDRINUSE";
break;
}
case(EBADF): {
infoString = "EBADF";
break;
case (EBADF): {
infoString = "EBADF";
break;
}
case(ENOTSOCK): {
infoString = "ENOTSOCK";
break;
case (ENOTSOCK): {
infoString = "ENOTSOCK";
break;
}
case(EADDRNOTAVAIL): {
infoString = "EADDRNOTAVAIL";
break;
case (EADDRNOTAVAIL): {
infoString = "EADDRNOTAVAIL";
break;
}
case(EFAULT): {
infoString = "EFAULT";
break;
case (EFAULT): {
infoString = "EFAULT";
break;
}
case(ELOOP): {
infoString = "ELOOP";
break;
case (ELOOP): {
infoString = "ELOOP";
break;
}
case(ENAMETOOLONG): {
infoString = "ENAMETOOLONG";
break;
case (ENAMETOOLONG): {
infoString = "ENAMETOOLONG";
break;
}
case(ENOENT): {
infoString = "ENOENT";
break;
case (ENOENT): {
infoString = "ENOENT";
break;
}
case(ENOTDIR): {
infoString = "ENOTDIR";
break;
case (ENOTDIR): {
infoString = "ENOTDIR";
break;
}
case(EROFS): {
infoString = "EROFS";
break;
case (EROFS): {
infoString = "EROFS";
break;
}
default: {
infoString = "Error code: " + std::to_string(errCode);
}
infoString = "Error code: " + std::to_string(errCode);
}
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString <<
" | " << infoString << std::endl;
sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString << " | "
<< infoString << std::endl;
#else
sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString.c_str(),
errorSrcString.c_str(), infoString.c_str());
sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString.c_str(),
errorSrcString.c_str(), infoString.c_str());
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
if(sleepDuration > 0) {
TaskFactory::instance()->delayTask(sleepDuration);
}
if (sleepDuration > 0) {
TaskFactory::instance()->delayTask(sleepDuration);
}
}

34
src/fsfw/osal/linux/unixUtility.cpp
View File

@ -1,32 +1,32 @@
#include "fsfw/FSFW.h"
#include "fsfw/osal/linux/unixUtility.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include <cstring>
#include <errno.h>
void utility::printUnixErrorGeneric(const char* const className,
const char* const function, const char* const failString,
sif::OutputTypes outputType) {
if(className == nullptr or failString == nullptr or function == nullptr) {
return;
}
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
void utility::printUnixErrorGeneric(const char* const className, const char* const function,
const char* const failString, sif::OutputTypes outputType) {
if (className == nullptr or failString == nullptr or function == nullptr) {
return;
}
#if FSFW_VERBOSE_LEVEL >= 1
if(outputType == sif::OutputTypes::OUT_ERROR) {
if (outputType == sif::OutputTypes::OUT_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << className << "::" << function << ": " << failString << " error: "
<< strerror(errno) << std::endl;
sif::error << className << "::" << function << ": " << failString
<< " error: " << strerror(errno) << std::endl;
#else
sif::printError("%s::%s: %s error: %s\n", className, function, failString, strerror(errno));
#endif
}
else {
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << className << "::" << function << ": " << failString << " error: "
<< strerror(errno) << std::endl;
sif::warning << className << "::" << function << ": " << failString
<< " error: " << strerror(errno) << std::endl;
#else
sif::printWarning("%s::%s: %s error: %s\n", className, function, failString, strerror(errno));
#endif
}
}
#endif
}

3
src/fsfw/osal/linux/unixUtility.h
View File

@ -6,7 +6,8 @@
namespace utility {
void printUnixErrorGeneric(const char* const className, const char* const function,
const char* const failString, sif::OutputTypes outputType = sif::OutputTypes::OUT_ERROR);
const char* const failString,
sif::OutputTypes outputType = sif::OutputTypes::OUT_ERROR);
}