rtems bugfixes and updates only
This commit is contained in:
parent
35d75bae56
commit
17a1ae9d0e
@ -5,13 +5,13 @@ target_sources(${LIB_FSFW_NAME}
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InitTask.cpp
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InternalErrorCodes.cpp
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MessageQueue.cpp
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MultiObjectTask.cpp
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PeriodicTask.cpp
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Mutex.cpp
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MutexFactory.cpp
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PollingTask.cpp
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FixedTimeslotTask.cpp
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QueueFactory.cpp
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RtemsBasic.cpp
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TaskBase.cpp
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RTEMSTaskBase.cpp
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TaskFactory.cpp
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)
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@ -104,9 +104,13 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
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}
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ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
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// TIsn't this a bug? Are RTEMS ticks always microseconds?
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/* For all but the last field, the struct will be filled with the correct values */
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rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
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rtems_status_code status = rtems_clock_get_tod(timeRtems);
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/* The last field now contains the RTEMS ticks of the seconds from 0
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to rtems_clock_get_ticks_per_second() minus one. We calculate the microseconds accordingly */
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timeRtems->ticks = static_cast<float>(timeRtems->ticks) /
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rtems_clock_get_ticks_per_second() * 1e6;
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switch (status) {
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case RTEMS_SUCCESSFUL:
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return HasReturnvaluesIF::RETURN_OK;
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@ -164,7 +164,7 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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if ((*size = *size - MAX_LENGTH_OF_THREAD_NAME) < 0) {
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if (*size < MAX_LENGTH_OF_THREAD_NAME) {
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return STREAM_TOO_SHORT;
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}
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memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);
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140
osal/rtems/FixedTimeslotTask.cpp
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140
osal/rtems/FixedTimeslotTask.cpp
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@ -0,0 +1,140 @@
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#include "FixedTimeslotTask.h"
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#include "RtemsBasic.h"
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#include "../../tasks/FixedSequenceSlot.h"
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#include "../../objectmanager/SystemObjectIF.h"
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#include "../../objectmanager/ObjectManagerIF.h"
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#include "../../returnvalues/HasReturnvaluesIF.h"
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#include "../../serviceinterface/ServiceInterface.h"
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#include <rtems/bspIo.h>
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#include <rtems/io.h>
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#include <rtems/rtems/ratemon.h>
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#include <rtems/rtems/status.h>
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#include <rtems/rtems/tasks.h>
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#include <rtems/rtems/types.h>
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#include <sys/_stdint.h>
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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#include <iostream>
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#endif
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#include <cstddef>
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#include <list>
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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FixedTimeslotTask::FixedTimeslotTask(const char *name, rtems_task_priority setPriority,
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size_t setStack, uint32_t setOverallPeriod, void (*setDeadlineMissedFunc)(void)):
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RTEMSTaskBase(setPriority, setStack, name), periodId(0), pst(setOverallPeriod) {
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// All additional attributes are applied to the object.
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this->deadlineMissedFunc = setDeadlineMissedFunc;
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}
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FixedTimeslotTask::~FixedTimeslotTask() {
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}
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rtems_task FixedTimeslotTask::taskEntryPoint(rtems_task_argument argument) {
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/* The argument is re-interpreted as a FixedTimeslotTask */
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FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
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/* The task's functionality is called. */
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return originalTask->taskFunctionality();
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/* Should never be reached */
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Polling task " << originalTask->getId() << " returned from taskFunctionality." <<
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std::endl;
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#endif
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}
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void FixedTimeslotTask::missedDeadlineCounter() {
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FixedTimeslotTask::deadlineMissedCount++;
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if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
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<< " deadlines." << std::endl;
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#endif
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}
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}
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ReturnValue_t FixedTimeslotTask::startTask() {
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rtems_status_code status = rtems_task_start(id, FixedTimeslotTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PollingTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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#endif
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}
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switch(status){
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case RTEMS_SUCCESSFUL:
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//ask started successfully
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return HasReturnvaluesIF::RETURN_OK;
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default:
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/*
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RTEMS_INVALID_ADDRESS - invalid task entry point
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RTEMS_INVALID_ID - invalid task id
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RTEMS_INCORRECT_STATE - task not in the dormant state
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RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
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uint32_t slotTimeMs, int8_t executionStep) {
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ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
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if (object != nullptr) {
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pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Component " << std::hex << componentId <<
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" not found, not adding it to pst" << std::endl;
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint32_t FixedTimeslotTask::getPeriodMs() const {
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return pst.getLengthMs();
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}
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ReturnValue_t FixedTimeslotTask::checkSequence() const {
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return pst.checkSequence();
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}
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void FixedTimeslotTask::taskFunctionality() {
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/* A local iterator for the Polling Sequence Table is created to find the start time for
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the first entry. */
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FixedSlotSequence::SlotListIter it = pst.current;
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/* Initialize the PST with the correct calling task */
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pst.intializeSequenceAfterTaskCreation();
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/* The start time for the first entry is read. */
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rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
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RTEMSTaskBase::setAndStartPeriod(interval,&periodId);
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//The task's "infinite" inner loop is entered.
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while (1) {
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if (pst.slotFollowsImmediately()) {
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/* Do nothing */
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}
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else {
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/* The interval for the next polling slot is selected. */
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interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
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/* The period is checked and restarted with the new interval.
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If the deadline was missed, the deadlineMissedFunc is called. */
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rtems_status_code status = RTEMSTaskBase::restartPeriod(interval,periodId);
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if (status == RTEMS_TIMEOUT) {
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if (this->deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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}
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}
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/* The device handler for this slot is executed and the next one is chosen. */
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this->pst.executeAndAdvance();
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}
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}
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ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms){
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return RTEMSTaskBase::sleepFor(ms);
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};
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81
osal/rtems/FixedTimeslotTask.h
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81
osal/rtems/FixedTimeslotTask.h
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@ -0,0 +1,81 @@
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#ifndef FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
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#define FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_
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#include "RTEMSTaskBase.h"
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#include "../../tasks/FixedSlotSequence.h"
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#include "../../tasks/FixedTimeslotTaskIF.h"
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class FixedTimeslotTask: public RTEMSTaskBase, public FixedTimeslotTaskIF {
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public:
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/**
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* @brief The standard constructor of the class.
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* @details
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* This is the general constructor of the class. In addition to the TaskBase parameters,
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* the following variables are passed:
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* @param setDeadlineMissedFunc The function pointer to the deadline missed function
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* that shall be assigned.
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* @param getPst The object id of the completely initialized polling sequence.
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*/
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FixedTimeslotTask( const char *name, rtems_task_priority setPriority, size_t setStackSize,
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uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
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/**
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* @brief The destructor of the class.
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* @details
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* The destructor frees all heap memory that was allocated on thread initialization
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* for the PST andthe device handlers. This is done by calling the PST's destructor.
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*/
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virtual ~FixedTimeslotTask( void );
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ReturnValue_t startTask( void );
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/**
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* This static function can be used as #deadlineMissedFunc.
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* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
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*/
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static void missedDeadlineCounter();
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/**
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* A helper variable to count missed deadlines.
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*/
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static uint32_t deadlineMissedCount;
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ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
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uint32_t getPeriodMs() const;
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ReturnValue_t checkSequence() const;
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ReturnValue_t sleepFor(uint32_t ms);
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protected:
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/**
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* @brief id of the associated OS period
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*/
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rtems_id periodId;
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FixedSlotSequence pst;
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/**
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* @brief This attribute holds a function pointer that is executed when a deadline was missed.
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*
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* @details
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* Another function may be announced to determine the actions to perform when a deadline
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* was missed. Currently, only one function for missing any deadline is allowed.
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* If not used, it shall be declared NULL.
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*/
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void ( *deadlineMissedFunc )( void ) = nullptr;
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/**
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* @brief This is the entry point in a new polling thread.
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* @details This method is the entry point in the new thread
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*/
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static rtems_task taskEntryPoint( rtems_task_argument argument );
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/**
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* @brief This function holds the main functionality of the thread.
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* @details
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* Holding the main functionality of the task, this method is most important.
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* It links the functionalities provided by FixedSlotSequence with the OS's system calls to
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* keep the timing of the periods.
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*/
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void taskFunctionality( void );
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};
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#endif /* FSFW_OSAL_RTEMS_FIXEDTIMESLOTTASK_H_ */
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@ -1,92 +0,0 @@
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/**
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* @file MultiObjectTask.cpp
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* @brief This file defines the MultiObjectTask class.
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* @date 30.01.2014
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* @author baetz
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*/
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../tasks/ExecutableObjectIF.h"
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#include "MultiObjectTask.h"
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MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority,
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size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
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TaskBase(setPriority, setStack, name), periodTicks(
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RtemsBasic::convertMsToTicks(setPeriod)), periodId(0), deadlineMissedFunc(
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setDeadlineMissedFunc) {
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}
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MultiObjectTask::~MultiObjectTask(void) {
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//Do not delete objects, we were responsible for ptrs only.
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rtems_rate_monotonic_delete(periodId);
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}
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rtems_task MultiObjectTask::taskEntryPoint(rtems_task_argument argument) {
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//The argument is re-interpreted as MultiObjectTask. The Task object is global, so it is found from any place.
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MultiObjectTask *originalTask(reinterpret_cast<MultiObjectTask*>(argument));
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originalTask->taskFunctionality();
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}
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ReturnValue_t MultiObjectTask::startTask() {
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rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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#endif
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}
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switch(status){
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case RTEMS_SUCCESSFUL:
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//ask started successfully
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return HasReturnvaluesIF::RETURN_OK;
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default:
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/* RTEMS_INVALID_ADDRESS - invalid task entry point
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RTEMS_INVALID_ID - invalid task id
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RTEMS_INCORRECT_STATE - task not in the dormant state
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RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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ReturnValue_t MultiObjectTask::sleepFor(uint32_t ms) {
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return TaskBase::sleepFor(ms);
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}
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void MultiObjectTask::taskFunctionality() {
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TaskBase::setAndStartPeriod(periodTicks,&periodId);
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//The task's "infinite" inner loop is entered.
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while (1) {
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for (ObjectList::iterator it = objectList.begin();
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it != objectList.end(); ++it) {
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(*it)->performOperation();
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}
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rtems_status_code status = TaskBase::restartPeriod(periodTicks,periodId);
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if (status == RTEMS_TIMEOUT) {
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char nameSpace[8] = { 0 };
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char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
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nameSpace);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
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#endif
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if (this->deadlineMissedFunc != nullptr) {
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this->deadlineMissedFunc();
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}
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}
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}
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}
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ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
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ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
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object);
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if (newObject == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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objectList.push_back(newObject);
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newObject->setTaskIF(this);
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t MultiObjectTask::getPeriodMs() const {
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return RtemsBasic::convertTicksToMs(periodTicks);
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}
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@ -1,18 +1,20 @@
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#include "Mutex.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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#include "../../serviceinterface/ServiceInterface.h"
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uint8_t Mutex::count = 0;
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Mutex::Mutex() :
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mutexId(0) {
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Mutex::Mutex() {
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rtems_name mutexName = ('M' << 24) + ('T' << 16) + ('X' << 8) + count++;
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rtems_status_code status = rtems_semaphore_create(mutexName, 1,
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RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
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&mutexId);
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
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<< " failed with " << status << std::endl;
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sif::error << "Mutex::Mutex: Creation with name, id " << mutexName << ", " << mutexId <<
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" failed with " << status << std::endl;
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#else
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sif::printError("Mutex::Mutex: Creation with name, id %s, %d failed with %d\n", mutexName,
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static_cast<int>(mutexId), static_cast<int>(status));
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#endif
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}
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}
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@ -11,7 +11,7 @@ public:
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ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
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ReturnValue_t unlockMutex();
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private:
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rtems_id mutexId;
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rtems_id mutexId = 0;
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static uint8_t count;
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};
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@ -1,6 +1,7 @@
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#include "../../ipc/MutexFactory.h"
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#include "Mutex.h"
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#include "RtemsBasic.h"
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#include "../../ipc/MutexFactory.h"
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MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
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83
osal/rtems/PeriodicTask.cpp
Normal file
83
osal/rtems/PeriodicTask.cpp
Normal file
@ -0,0 +1,83 @@
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#include "PeriodicTask.h"
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#include "../../serviceinterface/ServiceInterface.h"
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#include "../../tasks/ExecutableObjectIF.h"
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PeriodicTask::PeriodicTask(const char *name, rtems_task_priority setPriority,
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size_t setStack, rtems_interval setPeriod, void (*setDeadlineMissedFunc)()) :
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RTEMSTaskBase(setPriority, setStack, name),
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periodTicks(RtemsBasic::convertMsToTicks(setPeriod)),
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deadlineMissedFunc(setDeadlineMissedFunc) {
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}
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PeriodicTask::~PeriodicTask(void) {
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/* Do not delete objects, we were responsible for pointers only. */
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rtems_rate_monotonic_delete(periodId);
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}
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rtems_task PeriodicTask::taskEntryPoint(rtems_task_argument argument) {
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/* The argument is re-interpreted as MultiObjectTask. The Task object is global,
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so it is found from any place. */
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PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
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return originalTask->taskFunctionality();;
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}
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ReturnValue_t PeriodicTask::startTask() {
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rtems_status_code status = rtems_task_start(id, PeriodicTask::taskEntryPoint,
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rtems_task_argument((void *) this));
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
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<< std::dec << " failed." << std::endl;
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#endif
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}
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switch(status){
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case RTEMS_SUCCESSFUL:
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/* Task started successfully */
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
default:
|
||||
/* RTEMS_INVALID_ADDRESS - invalid task entry point
|
||||
RTEMS_INVALID_ID - invalid task id
|
||||
RTEMS_INCORRECT_STATE - task not in the dormant state
|
||||
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
|
||||
return RTEMSTaskBase::sleepFor(ms);
|
||||
}
|
||||
|
||||
void PeriodicTask::taskFunctionality() {
|
||||
RTEMSTaskBase::setAndStartPeriod(periodTicks,&periodId);
|
||||
for (const auto& object: objectList) {
|
||||
object->initializeAfterTaskCreation();
|
||||
}
|
||||
/* The task's "infinite" inner loop is entered. */
|
||||
while (1) {
|
||||
for (const auto& object: objectList) {
|
||||
object->performOperation();
|
||||
}
|
||||
rtems_status_code status = RTEMSTaskBase::restartPeriod(periodTicks,periodId);
|
||||
if (status == RTEMS_TIMEOUT) {
|
||||
if (this->deadlineMissedFunc != nullptr) {
|
||||
this->deadlineMissedFunc();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
|
||||
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(object);
|
||||
if (newObject == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
objectList.push_back(newObject);
|
||||
newObject->setTaskIF(this);
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t PeriodicTask::getPeriodMs() const {
|
||||
return RtemsBasic::convertTicksToMs(periodTicks);
|
||||
}
|
@ -1,10 +1,10 @@
|
||||
#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
|
||||
#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
|
||||
#ifndef FSFW_OSAL_RTEMS_PERIODICTASK_H_
|
||||
#define FSFW_OSAL_RTEMS_PERIODICTASK_H_
|
||||
|
||||
#include "RTEMSTaskBase.h"
|
||||
#include "../../objectmanager/ObjectManagerIF.h"
|
||||
#include "../../tasks/PeriodicTaskIF.h"
|
||||
|
||||
#include "TaskBase.h"
|
||||
#include <vector>
|
||||
|
||||
class ExecutableObjectIF;
|
||||
@ -18,7 +18,7 @@ class ExecutableObjectIF;
|
||||
* @author baetz
|
||||
* @ingroup task_handling
|
||||
*/
|
||||
class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
|
||||
class PeriodicTask: public RTEMSTaskBase, public PeriodicTaskIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Standard constructor of the class.
|
||||
@ -35,13 +35,13 @@ public:
|
||||
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
|
||||
* that shall be assigned.
|
||||
*/
|
||||
MultiObjectTask(const char *name, rtems_task_priority setPriority, size_t setStack, rtems_interval setPeriod,
|
||||
void (*setDeadlineMissedFunc)());
|
||||
PeriodicTask(const char *name, rtems_task_priority setPriority, size_t setStack,
|
||||
rtems_interval setPeriod, void (*setDeadlineMissedFunc)());
|
||||
/**
|
||||
* @brief Currently, the executed object's lifetime is not coupled with the task object's
|
||||
* lifetime, so the destructor is empty.
|
||||
*/
|
||||
virtual ~MultiObjectTask(void);
|
||||
virtual ~PeriodicTask(void);
|
||||
|
||||
/**
|
||||
* @brief The method to start the task.
|
||||
@ -76,7 +76,7 @@ protected:
|
||||
/**
|
||||
* @brief id of the associated OS period
|
||||
*/
|
||||
rtems_id periodId;
|
||||
rtems_id periodId = 0;
|
||||
/**
|
||||
* @brief The pointer to the deadline-missed function.
|
||||
* @details This pointer stores the function that is executed if the task's deadline is missed.
|
||||
@ -104,4 +104,4 @@ protected:
|
||||
void taskFunctionality(void);
|
||||
};
|
||||
|
||||
#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */
|
||||
#endif /* FSFW_OSAL_RTEMS_PERIODICTASK_H_ */
|
@ -1,131 +0,0 @@
|
||||
#include "../../tasks/FixedSequenceSlot.h"
|
||||
#include "../../objectmanager/SystemObjectIF.h"
|
||||
#include "../../objectmanager/ObjectManagerIF.h"
|
||||
#include "PollingTask.h"
|
||||
#include "RtemsBasic.h"
|
||||
#include "../../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include <rtems/bspIo.h>
|
||||
#include <rtems/rtems/ratemon.h>
|
||||
#include <rtems/rtems/status.h>
|
||||
#include <rtems/rtems/tasks.h>
|
||||
#include <rtems/rtems/types.h>
|
||||
#include <stddef.h>
|
||||
#include <sys/_stdint.h>
|
||||
#include <iostream>
|
||||
#include <list>
|
||||
|
||||
uint32_t PollingTask::deadlineMissedCount = 0;
|
||||
|
||||
PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
|
||||
size_t setStack, uint32_t setOverallPeriod,
|
||||
void (*setDeadlineMissedFunc)()) :
|
||||
TaskBase(setPriority, setStack, name), periodId(0), pst(
|
||||
setOverallPeriod) {
|
||||
// All additional attributes are applied to the object.
|
||||
this->deadlineMissedFunc = setDeadlineMissedFunc;
|
||||
}
|
||||
|
||||
PollingTask::~PollingTask() {
|
||||
}
|
||||
|
||||
rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
|
||||
|
||||
//The argument is re-interpreted as PollingTask.
|
||||
PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
|
||||
//The task's functionality is called.
|
||||
originalTask->taskFunctionality();
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::debug << "Polling task " << originalTask->getId()
|
||||
<< " returned from taskFunctionality." << std::endl;
|
||||
#endif
|
||||
}
|
||||
|
||||
void PollingTask::missedDeadlineCounter() {
|
||||
PollingTask::deadlineMissedCount++;
|
||||
if (PollingTask::deadlineMissedCount % 10 == 0) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "PST missed " << PollingTask::deadlineMissedCount
|
||||
<< " deadlines." << std::endl;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PollingTask::startTask() {
|
||||
rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
|
||||
rtems_task_argument((void *) this));
|
||||
if (status != RTEMS_SUCCESSFUL) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "PollingTask::startTask for " << std::hex << this->getId()
|
||||
<< std::dec << " failed." << std::endl;
|
||||
#endif
|
||||
}
|
||||
switch(status){
|
||||
case RTEMS_SUCCESSFUL:
|
||||
//ask started successfully
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
default:
|
||||
/* RTEMS_INVALID_ADDRESS - invalid task entry point
|
||||
RTEMS_INVALID_ID - invalid task id
|
||||
RTEMS_INCORRECT_STATE - task not in the dormant state
|
||||
RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PollingTask::addSlot(object_id_t componentId,
|
||||
uint32_t slotTimeMs, int8_t executionStep) {
|
||||
ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
|
||||
if (object != nullptr) {
|
||||
pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "Component " << std::hex << componentId <<
|
||||
" not found, not adding it to pst" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
uint32_t PollingTask::getPeriodMs() const {
|
||||
return pst.getLengthMs();
|
||||
}
|
||||
|
||||
ReturnValue_t PollingTask::checkSequence() const {
|
||||
return pst.checkSequence();
|
||||
}
|
||||
|
||||
#include <rtems/io.h>
|
||||
|
||||
void PollingTask::taskFunctionality() {
|
||||
// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
|
||||
FixedSlotSequence::SlotListIter it = pst.current;
|
||||
|
||||
//The start time for the first entry is read.
|
||||
rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
|
||||
TaskBase::setAndStartPeriod(interval,&periodId);
|
||||
//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 = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
|
||||
//The period is checked and restarted with the new interval.
|
||||
//If the deadline was missed, the deadlineMissedFunc is called.
|
||||
rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
|
||||
if (status == RTEMS_TIMEOUT) {
|
||||
if (this->deadlineMissedFunc != nullptr) {
|
||||
this->deadlineMissedFunc();
|
||||
}
|
||||
}
|
||||
}
|
||||
//The device handler for this slot is executed and the next one is chosen.
|
||||
this->pst.executeAndAdvance();
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PollingTask::sleepFor(uint32_t ms){
|
||||
return TaskBase::sleepFor(ms);
|
||||
};
|
@ -1,85 +0,0 @@
|
||||
#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
|
||||
#define FSFW_OSAL_RTEMS_POLLINGTASK_H_
|
||||
|
||||
#include "../../tasks/FixedSlotSequence.h"
|
||||
#include "../../tasks/FixedTimeslotTaskIF.h"
|
||||
#include "TaskBase.h"
|
||||
|
||||
class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
|
||||
public:
|
||||
/**
|
||||
* @brief The standard constructor of the class.
|
||||
*
|
||||
* @details This is the general constructor of the class. In addition to the TaskBase parameters,
|
||||
* the following variables are passed:
|
||||
*
|
||||
* @param (*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
|
||||
*
|
||||
* @param getPst The object id of the completely initialized polling sequence.
|
||||
*/
|
||||
PollingTask( const char *name, rtems_task_priority setPriority, size_t setStackSize, uint32_t overallPeriod, void (*setDeadlineMissedFunc)());
|
||||
|
||||
/**
|
||||
* @brief The destructor of the class.
|
||||
*
|
||||
* @details The destructor frees all heap memory that was allocated on thread initialization for the PST and
|
||||
* the device handlers. This is done by calling the PST's destructor.
|
||||
*/
|
||||
virtual ~PollingTask( void );
|
||||
|
||||
ReturnValue_t startTask( void );
|
||||
/**
|
||||
* This static function can be used as #deadlineMissedFunc.
|
||||
* It counts missedDeadlines and prints the number of missed deadlines every 10th time.
|
||||
*/
|
||||
static void missedDeadlineCounter();
|
||||
/**
|
||||
* A helper variable to count missed deadlines.
|
||||
*/
|
||||
static uint32_t deadlineMissedCount;
|
||||
|
||||
ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
|
||||
|
||||
uint32_t getPeriodMs() const;
|
||||
|
||||
ReturnValue_t checkSequence() const;
|
||||
|
||||
ReturnValue_t sleepFor(uint32_t ms);
|
||||
protected:
|
||||
/**
|
||||
* @brief id of the associated OS period
|
||||
*/
|
||||
rtems_id periodId;
|
||||
|
||||
FixedSlotSequence pst;
|
||||
|
||||
/**
|
||||
* @brief This attribute holds a function pointer that is executed when a deadline was missed.
|
||||
*
|
||||
* @details Another function may be announced to determine the actions to perform when a deadline was missed.
|
||||
* Currently, only one function for missing any deadline is allowed.
|
||||
* If not used, it shall be declared NULL.
|
||||
*/
|
||||
void ( *deadlineMissedFunc )( void );
|
||||
/**
|
||||
* @brief This is the entry point in a new polling thread.
|
||||
*
|
||||
* @details This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
|
||||
* and link the Polling Sequence Table to the thread object and start taskFunctionality()
|
||||
* on success. If operation of the task is ended for some reason,
|
||||
* the destructor is called to free allocated memory.
|
||||
*/
|
||||
static rtems_task taskEntryPoint( rtems_task_argument argument );
|
||||
|
||||
/**
|
||||
* @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.
|
||||
*/
|
||||
void taskFunctionality( void );
|
||||
};
|
||||
|
||||
#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */
|
84
osal/rtems/RTEMSTaskBase.cpp
Normal file
84
osal/rtems/RTEMSTaskBase.cpp
Normal file
@ -0,0 +1,84 @@
|
||||
#include "RTEMSTaskBase.h"
|
||||
#include "../../serviceinterface/ServiceInterface.h"
|
||||
|
||||
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = RTEMS_MINIMUM_STACK_SIZE;
|
||||
|
||||
RTEMSTaskBase::RTEMSTaskBase(rtems_task_priority set_priority, size_t stack_size,
|
||||
const char *name) {
|
||||
rtems_name osalName = 0;
|
||||
for (uint8_t i = 0; i < 4; i++) {
|
||||
if (name[i] == 0) {
|
||||
break;
|
||||
}
|
||||
osalName += name[i] << (8 * (3 - i));
|
||||
}
|
||||
//The task is created with the operating system's system call.
|
||||
rtems_status_code status = RTEMS_UNSATISFIED;
|
||||
if (set_priority <= 99) {
|
||||
status = rtems_task_create(osalName,
|
||||
(0xFF - 2 * set_priority), stack_size,
|
||||
RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR,
|
||||
RTEMS_FLOATING_POINT, &id);
|
||||
}
|
||||
ReturnValue_t result = convertReturnCode(status);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
|
||||
<< osalName << std::dec << " failed with return code "
|
||||
<< (uint32_t) status << std::endl;
|
||||
#endif
|
||||
this->id = 0;
|
||||
}
|
||||
}
|
||||
|
||||
RTEMSTaskBase::~RTEMSTaskBase() {
|
||||
rtems_task_delete(id);
|
||||
}
|
||||
|
||||
rtems_id RTEMSTaskBase::getId() {
|
||||
return this->id;
|
||||
}
|
||||
|
||||
ReturnValue_t RTEMSTaskBase::sleepFor(uint32_t ms) {
|
||||
rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
|
||||
return convertReturnCode(status);
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t RTEMSTaskBase::convertReturnCode(rtems_status_code inValue) {
|
||||
switch (inValue) {
|
||||
case RTEMS_SUCCESSFUL:
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
case RTEMS_MP_NOT_CONFIGURED:
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
case RTEMS_INVALID_NAME:
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
case RTEMS_TOO_MANY:
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
case RTEMS_INVALID_ADDRESS:
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
case RTEMS_UNSATISFIED:
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
case RTEMS_INVALID_PRIORITY:
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
default:
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t RTEMSTaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
|
||||
rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
|
||||
rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
|
||||
if (status == RTEMS_SUCCESSFUL) {
|
||||
status = restartPeriod(period,*periodId);
|
||||
}
|
||||
return convertReturnCode(status);
|
||||
}
|
||||
|
||||
rtems_status_code RTEMSTaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
|
||||
//This is necessary to avoid a call with period = 0, which does not start the period.
|
||||
rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
|
||||
return status;
|
||||
}
|
47
osal/rtems/RTEMSTaskBase.h
Normal file
47
osal/rtems/RTEMSTaskBase.h
Normal file
@ -0,0 +1,47 @@
|
||||
#ifndef FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
|
||||
#define FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_
|
||||
|
||||
#include "RtemsBasic.h"
|
||||
#include "../../tasks/PeriodicTaskIF.h"
|
||||
|
||||
/**
|
||||
* @brief This is the basic task handling class for rtems.
|
||||
*
|
||||
* @details Task creation base class for rtems.
|
||||
*/
|
||||
class RTEMSTaskBase {
|
||||
protected:
|
||||
/**
|
||||
* @brief The class stores the task id it got assigned from the operating system in this attribute.
|
||||
* If initialization fails, the id is set to zero.
|
||||
*/
|
||||
rtems_id id;
|
||||
public:
|
||||
/**
|
||||
* @brief The constructor creates and initializes a task.
|
||||
* @details This is accomplished by using the operating system call to create a task. The name is
|
||||
* created automatically with the help od taskCounter. Priority and stack size are
|
||||
* adjustable, all other attributes are set with default values.
|
||||
* @param priority Sets the priority of a task. Values range from a low 0 to a high 99.
|
||||
* @param stack_size The stack size reserved by the operating system for the task.
|
||||
* @param nam The name of the Task, as a null-terminated String. Currently max 4 chars supported (excluding Null-terminator), rest will be truncated
|
||||
*/
|
||||
RTEMSTaskBase( rtems_task_priority priority, size_t stack_size, const char *name);
|
||||
/**
|
||||
* @brief In the destructor, the created task is deleted.
|
||||
*/
|
||||
virtual ~RTEMSTaskBase();
|
||||
/**
|
||||
* @brief This method returns the task id of this class.
|
||||
*/
|
||||
rtems_id getId();
|
||||
|
||||
ReturnValue_t sleepFor(uint32_t ms);
|
||||
static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
|
||||
static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
|
||||
private:
|
||||
static ReturnValue_t convertReturnCode(rtems_status_code inValue);
|
||||
};
|
||||
|
||||
|
||||
#endif /* FSFW_OSAL_RTEMS_RTEMSTASKBASE_H_ */
|
@ -1,5 +1,6 @@
|
||||
#include "RtemsBasic.h"
|
||||
|
||||
// TODO: Can this be removed?
|
||||
|
||||
//ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) {
|
||||
// if (inValue == RTEMS_SUCCESSFUL) {
|
||||
|
@ -2,12 +2,13 @@
|
||||
#define FSFW_OSAL_RTEMS_RTEMSBASIC_H_
|
||||
|
||||
#include "../../returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
#include <rtems.h>
|
||||
#include <rtems/libio.h>
|
||||
#include <rtems/error.h>
|
||||
#include <rtems/stackchk.h>
|
||||
#include <stddef.h>
|
||||
|
||||
#include <cstddef>
|
||||
|
||||
class RtemsBasic {
|
||||
public:
|
||||
|
@ -1,8 +1,9 @@
|
||||
#include "../../tasks/TaskFactory.h"
|
||||
#include "MultiObjectTask.h"
|
||||
#include "PollingTask.h"
|
||||
#include "FixedTimeslotTask.h"
|
||||
#include "PeriodicTask.h"
|
||||
#include "InitTask.h"
|
||||
#include "RtemsBasic.h"
|
||||
|
||||
#include "../../tasks/TaskFactory.h"
|
||||
#include "../../returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
|
||||
@ -15,15 +16,21 @@ TaskFactory* TaskFactory::instance() {
|
||||
return TaskFactory::factoryInstance;
|
||||
}
|
||||
|
||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, TaskPriority taskPriority_,
|
||||
TaskStackSize stackSize_,TaskPeriod periodInSeconds_,
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
|
||||
|
||||
return static_cast<PeriodicTaskIF*>(new MultiObjectTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
|
||||
return static_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_, stackSize_,
|
||||
taskPeriod,deadLineMissedFunction_));
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
|
||||
TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,
|
||||
TaskDeadlineMissedFunction deadLineMissedFunction_) {
|
||||
rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
|
||||
return static_cast<FixedTimeslotTaskIF*>(new PollingTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
|
||||
return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_, taskPriority_,
|
||||
stackSize_, taskPeriod, deadLineMissedFunction_));
|
||||
}
|
||||
|
||||
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
|
||||
|
Loading…
Reference in New Issue
Block a user