various changes, stopwatch

Semaphore: Some bugfixes, some constructors added
Stopwatch: First implementation, can measure in ms(double) and
ms(normal)

datalinklayer/Clcw.cpp

@@ -55,7 +55,8 @@ void Clcw::setBitLock(bool bitLock) {
 }
 
 void Clcw::print() {
-	debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl;
+	debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole()
+	        << std::dec << std::endl;
 }
 
 void Clcw::setWhole(uint32_t rawClcw) {

datapool/PoolEntry.cpp

@@ -60,7 +60,8 @@ uint8_t PoolEntry<T>::getValid() {
 template <typename T>
 void PoolEntry<T>::print() {
 	for (uint8_t size = 0; size < this->length; size++ ) {
-		debug << "| " << std::hex << (double)this->address[size] << (this->valid? " (valid) " : " (invalid) ");
+		debug << "| " << std::hex << (double)this->address[size]
+		      << (this->valid? " (valid) " : " (invalid) ");
 	}
 	debug << std::dec << std::endl;
 }

health/HealthHelper.cpp

@@ -89,8 +89,7 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
 	}
 	if (MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
 			owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
-		debug
-				<< "HealthHelper::handleHealthCommand: sending health reply failed."
-				<< std::endl;
+		debug << "HealthHelper::handleHealthCommand: sending health "
+		        "reply failed." << std::endl;
 	}
 }

osal/FreeRTOS/BinarySemaphore.cpp

@@ -21,26 +21,68 @@ BinarySemaphore::~BinarySemaphore() {
 	vSemaphoreDelete(handle);
 }
 
+// This copy ctor is important as it prevents the assignment to a ressource
+// (other.handle) variable which is later deleted!
+BinarySemaphore::BinarySemaphore(const BinarySemaphore& other) {
+    xSemaphoreCreateBinary(handle);
+    if(handle == nullptr) {
+        error << "Binary semaphore creation failure" << std::endl;
+    }
+}
+
+BinarySemaphore& BinarySemaphore::operator =(const BinarySemaphore& s) {
+    if(this != &s) {
+        xSemaphoreCreateBinary(handle);
+        if(handle == nullptr) {
+            error << "Binary semaphore creation failure" << std::endl;
+        }
+    }
+    return *this;
+}
+
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+    xSemaphoreCreateBinary(handle);
+    if(handle == nullptr) {
+        error << "Binary semaphore creation failure" << std::endl;
+    }
+}
+
+BinarySemaphore& BinarySemaphore::operator =(
+        BinarySemaphore&& s) {
+    if(&s != this) {
+        xSemaphoreCreateBinary(handle);
+        if(handle == nullptr) {
+            error << "Binary semaphore creation failure" << std::endl;
+        }
+    }
+    return *this;
+}
+
 ReturnValue_t BinarySemaphore::takeBinarySemaphore(uint32_t timeoutMs) {
 	if(handle == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return SEMAPHORE_NULLPOINTER;
 	}
-	TickType_t timeout = portMAX_DELAY;
-	if(timeoutMs != 0) {
-		timeout = pdMS_TO_TICKS(timeoutMs);
+	TickType_t timeout = BinarySemaphore::NO_BLOCK_TICKS;
+	if(timeoutMs == BinarySemaphore::BLOCK_TIMEOUT) {
+	    timeout = BinarySemaphore::BLOCK_TIMEOUT_TICKS;
+	}
+	else if(timeoutMs > BinarySemaphore::NO_BLOCK_TIMEOUT){
+	    timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 
 	BaseType_t returncode = xSemaphoreTake(handle, timeout);
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return SEMAPHORE_NOT_FOUND;
+	}
+	else {
+	    return SEMAPHORE_TIMEOUT;
 	}
 }
 
-ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks) {
+ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(
+        TickType_t timeoutTicks) {
 	if(handle == nullptr) {
-		return SEMAPHORE_NOT_FOUND;
+		return SEMAPHORE_NULLPOINTER;
 	}
 
 	BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
@@ -53,7 +95,7 @@ ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(TickType_t timeout
 
 ReturnValue_t BinarySemaphore::giveBinarySemaphore() {
 	if (handle == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return SEMAPHORE_NULLPOINTER;
 	}
 	BaseType_t returncode = xSemaphoreGive(handle);
 	if (returncode == pdPASS) {
@@ -69,7 +111,7 @@ SemaphoreHandle_t BinarySemaphore::getSemaphore() {
 
 ReturnValue_t BinarySemaphore::giveBinarySemaphore(SemaphoreHandle_t semaphore) {
 	if (semaphore == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return SEMAPHORE_NULLPOINTER;
 	}
 	BaseType_t returncode = xSemaphoreGive(semaphore);
 	if (returncode == pdPASS) {
@@ -86,11 +128,12 @@ void BinarySemaphore::resetSemaphore() {
 	}
 }
 
+
 // Be careful with the stack size here. This is called from an ISR!
 ReturnValue_t BinarySemaphore::giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
 		BaseType_t * higherPriorityTaskWoken) {
 	if (semaphore == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return SEMAPHORE_NULLPOINTER;
 	}
 	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore, higherPriorityTaskWoken);
 	if (returncode == pdPASS) {
@@ -99,11 +142,10 @@ ReturnValue_t BinarySemaphore::giveBinarySemaphoreFromISR(SemaphoreHandle_t sema
 		    // TODO: I don't know if this will ever happen but if it does,
 		    // I want to to know in case this causes issues. If it doesn't
 		    // we should remove this.
-		    TRACE_INFO("Binary Semaphore: Higher priority task unblocked!");
 			TaskManagement::requestContextSwitch(CallContext::isr);
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return SEMAPHORE_NOT_OWNED;
 	}
 }

osal/FreeRTOS/BinarySemaphore.h

@@ -20,22 +20,51 @@ class BinarySemaphore: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
 
-	/** Semaphore object not found */
-	static const ReturnValue_t SEMAPHORE_NOT_FOUND = MAKE_RETURN_CODE(1);
-	/** Semaphore timeout */
-	static const ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(2);
+	//! No block time, poll the semaphore. Can also be used as tick type.
+	//! Can be passed as tick type and ms value.
+	static constexpr uint32_t NO_BLOCK_TIMEOUT = 0;
+	static constexpr TickType_t NO_BLOCK_TICKS = 0;
+	//! No block time, poll the semaphore.
+	//! Can be passed as tick type and ms value.
+	static constexpr TickType_t BLOCK_TIMEOUT_TICKS = portMAX_DELAY;
+	static constexpr uint32_t BLOCK_TIMEOUT = portMAX_DELAY;
+
+	//! Semaphore timeout
+	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
 	/** The current semaphore can not be given, because it is not owned */
-	static const ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(3);
+	static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
+	static constexpr ReturnValue_t SEMAPHORE_NULLPOINTER = MAKE_RETURN_CODE(3);
 
 	/**
 	 * Create a binary semaphore
 	 */
 	BinarySemaphore();
 
+	/**
+	 * Copy ctor
+	 * @param
+	 */
+	BinarySemaphore(const BinarySemaphore&);
+
+	/**
+	 * Copy assignment
+	 */
+	BinarySemaphore& operator=(const BinarySemaphore&);
+
+	/**
+	 * Move constructor
+	 */
+	BinarySemaphore (BinarySemaphore &&);
+
+	/**
+	 * Move assignment
+	 */
+	BinarySemaphore & operator=(BinarySemaphore &&);
+
 	/**
 	 * Delete the binary semaphore to prevent a memory leak
 	 */
-	~BinarySemaphore();
+	virtual ~BinarySemaphore();
 
 	/**
 	 * Take the binary semaphore.
@@ -46,7 +75,8 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c RETURN_FAILED on failure
 	 */
-	ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs);
+	ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs =
+	        BinarySemaphore::NO_BLOCK_TIMEOUT);
 
 	/**
 	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
@@ -54,7 +84,8 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c RETURN_FAILED on failure
 	 */
-	ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks);
+	ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks =
+	        BinarySemaphore::NO_BLOCK_TICKS);
 
 	/**
 	 * Give back the binary semaphore
@@ -96,8 +127,4 @@ private:
 	SemaphoreHandle_t handle;
 };
 
-
-
-
-
 #endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

osal/FreeRTOS/Clock.cpp

@@ -3,8 +3,11 @@
 #include <stdlib.h>
 #include "Timekeeper.h"
 
+extern "C" {
 #include <FreeRTOS.h>
 #include <task.h>
+}
+
 
 //TODO sanitize input?
 //TODO much of this code can be reused for tick-only systems
@@ -56,7 +59,6 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 
 timeval Clock::getUptime() {
 	TickType_t ticksSinceStart = xTaskGetTickCount();
-
 	return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 

osal/FreeRTOS/Timekeeper.cpp

@@ -1,20 +1,24 @@
-#include "Timekeeper.h"
-#include <FreeRTOSConfig.h>
+/**
+ * @file Timekeeper.cpp
+ * @date
+ */
 
-Timekeeper::Timekeeper() :
-		offset( { 0, 0 }) {
-	// TODO Auto-generated constructor stub
+#include <framework/osal/FreeRTOS/Timekeeper.h>
 
+extern "C" {
+#include <task.h>
 }
 
-Timekeeper * Timekeeper::myinstance = NULL;
+Timekeeper * Timekeeper::myinstance = nullptr;
+
+Timekeeper::Timekeeper() : offset( { 0, 0 }) {}
 
 const timeval& Timekeeper::getOffset() const {
 	return offset;
 }
 
 Timekeeper* Timekeeper::instance() {
-	if (myinstance == NULL) {
+	if (myinstance == nullptr) {
 		myinstance = new Timekeeper();
 	}
 	return myinstance;
@@ -24,9 +28,7 @@ void Timekeeper::setOffset(const timeval& offset) {
 	this->offset = offset;
 }
 
-Timekeeper::~Timekeeper() {
-	// TODO Auto-generated destructor stub
-}
+Timekeeper::~Timekeeper() {}
 
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 	timeval uptime;
@@ -40,3 +42,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 
 	return uptime;
 }
+
+TickType_t Timekeeper::getTicks() {
+    return xTaskGetTickCount();
+}

osal/FreeRTOS/Timekeeper.h

@@ -2,8 +2,10 @@
 #define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
 
 #include <framework/timemanager/Clock.h>
-
+extern "C" {
 #include <FreeRTOS.h>
+}
+
 
 /**
  * A Class to basically store the time difference between uptime and UTC
@@ -25,6 +27,11 @@ public:
 	virtual ~Timekeeper();
 
 	static timeval ticksToTimeval(TickType_t ticks);
+    /**
+     * Get elapsed time in system ticks.
+     * @return
+     */
+    static TickType_t getTicks();
 
 	const timeval& getOffset() const;
 	void setOffset(const timeval& offset);

serviceinterface/ServiceInterfaceStream.h

@@ -7,7 +7,8 @@
 #include <sstream>
 #include <cstdio>
 
-//Unfortunately, there must be a forward declaration of log_fe (MUST be defined in main), to let the system know where to write to.
+//Unfortunately, there must be a forward declaration of log_fe
+// (MUST be defined in main), to let the system know where to write to.
 extern std::ostream debug;
 extern std::ostream info;
 extern std::ostream warning;

timemanager/CCSDSTime.cpp

@@ -196,7 +196,8 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		to->usecond = (second - floor(second)) * 1000000;
 		return RETURN_OK;
 	}
-// Warning: Compiler/Linker fails ambiguously if library does not implement C99 I/O
+// Warning: Compiler/Linker fails ambiguously if library does not implement
+// C99 I/O
 #else
 	uint16_t year;
 	uint8_t month;

timemanager/Clock.h

@@ -7,7 +7,8 @@
 #include <framework/ipc/MutexFactory.h>
 #include <framework/globalfunctions/timevalOperations.h>
 
-
+typedef uint32_t ms_normal_t;
+typedef double ms_double_t;
 
 class Clock {
 public:

timemanager/Stopwatch.cpp

@@ -0,0 +1,62 @@
+/**
+ * @file Stopwatch.cpp
+ *
+ * @date 08.04.2020
+ */
+
+#include <framework/timemanager/Stopwatch.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+Stopwatch::Stopwatch(bool displayOnDestruction, DisplayMode displayMode):
+        displayOnDestruction(displayOnDestruction) {
+    Clock::getUptime(&startTime);
+    stopwatchState = StopwatchState::STARTED;
+}
+
+void Stopwatch::start() {
+    startTime = Clock::getUptime();
+}
+
+ms_normal_t Stopwatch::stop() {
+    elapsedTime = Clock::getUptime() - startTime;
+    int32_t elapsedTimeMs = elapsedTime.tv_sec * 1000 +
+            elapsedTime.tv_usec/1000;
+    if(elapsedTimeMs < 0) {
+        error << "Stopwatch: Measured time negative!";
+        return INVALID_TIME;
+    }
+    else {
+        return static_cast<ms_normal_t>(elapsedTimeMs);
+    }
+}
+
+ms_double_t Stopwatch::stopPrecise() {
+    elapsedTime = Clock::getUptime() - startTime;
+    return timevalOperations::toDouble(elapsedTime) * 1000.0;
+}
+
+
+void Stopwatch::display() {
+    if(displayMode == DisplayMode::MS_FLOAT) {
+        info << "Stopwatch: Operation took " <<
+                elapsedTimeMs << " milliseconds" << std::endl;
+    }
+    else {
+        timeval elapsedTime = stopTime - startTime;
+        info << "Stopwatch: Operation took " << elapsedTime.tv_sec * 1000 +
+                elapsedTime.tv_usec * 1000 << " milliseconds";
+    }
+}
+
+
+Stopwatch::~Stopwatch() {
+    if(displayOnDestruction) {
+        stopInternal();
+        display();
+    }
+}
+
+void Stopwatch::stopInternal() {
+    elapsedTime = Clock::getUptime() - startTime;
+    elapsedTimeMs = timevalOperations::toDouble(elapsedTime) * 1000.0;
+}

timemanager/Stopwatch.h

@@ -0,0 +1,52 @@
+/**
+ * @file Stopwatch.h
+ *
+ * @date 08.04.2020
+ */
+
+#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#include <framework/timemanager/Clock.h>
+
+class Stopwatch {
+    enum class DisplayMode {
+        MS_FLOAT,
+        MS
+    };
+
+    Stopwatch(bool displayOnDestruction = true, DisplayMode displayMode =
+            DisplayMode::MS_FLOAT);
+    virtual~ Stopwatch();
+
+    void start();
+
+    ms_normal_t stop();
+    ms_double_t stopPrecise();
+
+    void display();
+private:
+    static const ms_normal_t INVALID_TIME = 0xFFFFFFFF;
+
+    timeval startTime {0, 0};
+    timeval stopTime {0, 0};
+    timeval elapsedTime {0, 0};
+    double elapsedTimeMs = 0;
+    //ms_normal_t elapsedTimeMs {0};
+
+    bool displayOnDestruction = true;
+
+    enum class StopwatchState {
+        IDLE,
+        STARTED,
+    };
+
+    StopwatchState stopwatchState = StopwatchState::IDLE;
+    DisplayMode displayMode = DisplayMode::MS_FLOAT;
+
+    void stopInternal();
+};
+
+
+
+
+#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */