Merge remote-tracking branch 'upstream/master' into mueller_stopwatch

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -19,8 +19,7 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
 	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
-	FixedTimeslotTask *originalTask(
-			reinterpret_cast<FixedTimeslotTask*>(argument));
+	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
 	// Task should not start until explicitly requested
 	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
 	// but not if the scheduler is not running.
@@ -58,8 +57,19 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	pst.addSlot(componentId, slotTimeMs, executionStep, this);
-	return HasReturnvaluesIF::RETURN_OK;
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+		if(slotTimeMs == 0) {
+			// FreeRTOS throws a sanity error for zero values, so we set
+			// the time to one millisecond.
+			slotTimeMs = 1;
+		}
+		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 uint32_t FixedTimeslotTask::getPeriodMs() const {

osal/FreeRTOS/MessageQueue.cpp

@@ -38,7 +38,9 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
-	*receivedFrom = this->lastPartner;
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
 	return status;
 }
 
@@ -89,23 +91,24 @@ MessageQueueId_t MessageQueue::getDefaultDestination() const {
 bool MessageQueue::isDefaultDestinationSet() const {
 	return 0;
 }
+
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		MessageQueueMessage *message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
 
-		BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
-		if (result != pdPASS) {
-			if (!ignoreFault) {
-				InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
-							objects::INTERNAL_ERROR_REPORTER);
-				if (internalErrorReporter != NULL) {
-					internalErrorReporter->queueMessageNotSent();
-				}
+	BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
+	if (result != pdPASS) {
+		if (!ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+					objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != NULL) {
+				internalErrorReporter->queueMessageNotSent();
 			}
-			return MessageQueueIF::FULL;
 		}
-		return HasReturnvaluesIF::RETURN_OK;
+		return MessageQueueIF::FULL;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
 
 }
 

osal/FreeRTOS/QueueFactory.cpp

@@ -1,6 +1,6 @@
 #include <framework/ipc/QueueFactory.h>
 
-#include "../FreeRTOS/MessageQueue.h"
+#include <framework/osal/FreeRTOS/MessageQueue.h>
 
 
 QueueFactory* QueueFactory::factoryInstance = NULL;

osal/FreeRTOS/TaskFactory.cpp

@@ -15,6 +15,7 @@ TaskFactory* TaskFactory::instance() {
 }
 /***
  * Keep in Mind that you need to call before this vTaskStartScheduler()!
+ * High taskPriority_ number means high priority.
  */
 PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
 		TaskPriority taskPriority_, TaskStackSize stackSize_,