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Robin Müller
2020-08-28 18:33:29 +02:00
parent 9abd796e6f
commit 1b9c8446b7
381 changed files with 38723 additions and 38723 deletions
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190
osal/FreeRTOS/BinSemaphUsingTask.cpp
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@ -1,95 +1,95 @@
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
sif::error << "Could not retrieve task handle. Please ensure the"
"constructor was called inside a task." << std::endl;
}
xTaskNotifyGive(handle);
}
BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
// Clear notification value on destruction.
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
else {
timeout = portMAX_DELAY;
}
return acquireWithTickTimeout(timeoutType, timeout);
}
ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
TimeoutType timeoutType, TickType_t timeoutTicks) {
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphoreUsingTask::release() {
return release(this->handle);
}
ReturnValue_t BinarySemaphoreUsingTask::release(
TaskHandle_t taskHandle) {
if(getSemaphoreCounter(taskHandle) == 1) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
BaseType_t returncode = xTaskNotifyGive(taskHandle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
return handle;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
return getSemaphoreCounter(this->handle);
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
TaskHandle_t taskHandle) {
uint32_t notificationValue;
xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
return notificationValue;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
uint32_t notificationValue = 0;
xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
higherPriorityTaskWoken);
return notificationValue;
}
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
sif::error << "Could not retrieve task handle. Please ensure the"
"constructor was called inside a task." << std::endl;
}
xTaskNotifyGive(handle);
}
BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
// Clear notification value on destruction.
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
else {
timeout = portMAX_DELAY;
}
return acquireWithTickTimeout(timeoutType, timeout);
}
ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
TimeoutType timeoutType, TickType_t timeoutTicks) {
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphoreUsingTask::release() {
return release(this->handle);
}
ReturnValue_t BinarySemaphoreUsingTask::release(
TaskHandle_t taskHandle) {
if(getSemaphoreCounter(taskHandle) == 1) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
BaseType_t returncode = xTaskNotifyGive(taskHandle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
return handle;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
return getSemaphoreCounter(this->handle);
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
TaskHandle_t taskHandle) {
uint32_t notificationValue;
xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
return notificationValue;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
uint32_t notificationValue = 0;
xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
higherPriorityTaskWoken);
return notificationValue;
}

158
osal/FreeRTOS/BinSemaphUsingTask.h
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@ -1,79 +1,79 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
/**
* @brief Binary Semaphore implementation using the task notification value.
* The notification value should therefore not be used
* for other purposes.
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
* This semaphore is bound to the task it is created in!
* Take care of calling this function with the correct executing task,
* (for example in the initializeAfterTaskCreation() function).
*/
class BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphoreUsingTask();
//! @brief Default dtor
virtual~ BinarySemaphoreUsingTask();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
BaseType_t* higherPriorityTaskWoken);
/**
* Same as acquire() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t acquireWithTickTimeout(
TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY);
/**
* Get handle to the task related to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t release(TaskHandle_t taskToNotify);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken);
protected:
TaskHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
/**
* @brief Binary Semaphore implementation using the task notification value.
* The notification value should therefore not be used
* for other purposes.
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
* This semaphore is bound to the task it is created in!
* Take care of calling this function with the correct executing task,
* (for example in the initializeAfterTaskCreation() function).
*/
class BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphoreUsingTask();
//! @brief Default dtor
virtual~ BinarySemaphoreUsingTask();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
BaseType_t* higherPriorityTaskWoken);
/**
* Same as acquire() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t acquireWithTickTimeout(
TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY);
/**
* Get handle to the task related to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t release(TaskHandle_t taskToNotify);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken);
protected:
TaskHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

216
osal/FreeRTOS/BinarySemaphore.cpp
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@ -1,108 +1,108 @@
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphore::BinarySemaphore() {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
}
// Initiated semaphore must be given before it can be taken.
xSemaphoreGive(handle);
}
BinarySemaphore::~BinarySemaphore() {
vSemaphoreDelete(handle);
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
if(&s != this) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
return *this;
}
ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
else {
timeout = portMAX_DELAY;
}
return acquireWithTickTimeout(timeoutType, timeout);
}
ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
TickType_t timeoutTicks) {
if(handle == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::release() {
return release(handle);
}
ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGive(semaphore);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}
uint8_t BinarySemaphore::getSemaphoreCounter() const {
return uxSemaphoreGetCount(handle);
}
SemaphoreHandle_t BinarySemaphore::getSemaphore() {
return handle;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphore::releaseFromISR(
SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
higherPriorityTaskWoken);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphore::BinarySemaphore() {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
}
// Initiated semaphore must be given before it can be taken.
xSemaphoreGive(handle);
}
BinarySemaphore::~BinarySemaphore() {
vSemaphoreDelete(handle);
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
if(&s != this) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
return *this;
}
ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
else {
timeout = portMAX_DELAY;
}
return acquireWithTickTimeout(timeoutType, timeout);
}
ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
TickType_t timeoutTicks) {
if(handle == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::release() {
return release(handle);
}
ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGive(semaphore);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}
uint8_t BinarySemaphore::getSemaphoreCounter() const {
return uxSemaphoreGetCount(handle);
}
SemaphoreHandle_t BinarySemaphore::getSemaphore() {
return handle;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphore::releaseFromISR(
SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
higherPriorityTaskWoken);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}

214
osal/FreeRTOS/BinarySemaphore.h
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@ -1,107 +1,107 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
/**
* @brief OS Tool to achieve synchronization of between tasks or between
* task and ISR. The default semaphore implementation creates a
* binary semaphore, which can only be taken once.
* @details
* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
*
* Please note that if the semaphore implementation is only related to
* the synchronization of one task, the new task notifications can be used,
* also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
* These use the task notification value instead of a queue and are
* faster and more efficient.
*
* @author R. Mueller
* @ingroup osal
*/
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();
uint8_t getSemaphoreCounter() const 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 = portMAX_DELAY) override;
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType =
TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
ReturnValue_t release() override;
/**
* Get Handle to the semaphore.
* @return
*/
SemaphoreHandle_t getSemaphore();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t release(SemaphoreHandle_t semaphore);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch from an ISR should
* then be requested (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken);
protected:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
/**
* @brief OS Tool to achieve synchronization of between tasks or between
* task and ISR. The default semaphore implementation creates a
* binary semaphore, which can only be taken once.
* @details
* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
*
* Please note that if the semaphore implementation is only related to
* the synchronization of one task, the new task notifications can be used,
* also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
* These use the task notification value instead of a queue and are
* faster and more efficient.
*
* @author R. Mueller
* @ingroup osal
*/
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();
uint8_t getSemaphoreCounter() const 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 = portMAX_DELAY) override;
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType =
TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
ReturnValue_t release() override;
/**
* Get Handle to the semaphore.
* @return
*/
SemaphoreHandle_t getSemaphore();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t release(SemaphoreHandle_t semaphore);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch from an ISR should
* then be requested (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken);
protected:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

392
osal/FreeRTOS/Clock.cpp
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@ -1,196 +1,196 @@
#include "../../timemanager/Clock.h"
#include "../../globalfunctions/timevalOperations.h"
#include "../../osal/FreeRTOS/Timekeeper.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <stdlib.h>
#include <time.h>
//TODO sanitize input?
//TODO much of this code can be reused for tick-only systems
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = nullptr;
uint32_t Clock::getTicksPerSecond(void) {
return 1000;
}
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
timeval time_timeval;
ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK){
return result;
}
return setClock(&time_timeval);
}
ReturnValue_t Clock::setClock(const timeval* time) {
timeval uptime = getUptime();
timeval offset = *time - uptime;
Timekeeper::instance()->setOffset(offset);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getClock_timeval(timeval* time) {
timeval uptime = getUptime();
timeval offset = Timekeeper::instance()->getOffset();
*time = offset + uptime;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getUptime(timeval* uptime) {
*uptime = getUptime();
return HasReturnvaluesIF::RETURN_OK;
}
timeval Clock::getUptime() {
TickType_t ticksSinceStart = xTaskGetTickCount();
return Timekeeper::ticksToTimeval(ticksSinceStart);
}
ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
timeval uptime = getUptime();
*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
struct tm time_tm;
gmtime_r(&time_timeval.tv_sec,&time_tm);
time->year = time_tm.tm_year + 1900;
time->month = time_tm.tm_mon + 1;
time->day = time_tm.tm_mday;
time->hour = time_tm.tm_hour;
time->minute = time_tm.tm_min;
time->second = time_tm.tm_sec;
time->usecond = time_timeval.tv_usec;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
timeval* to) {
struct tm time_tm;
time_tm.tm_year = from->year - 1900;
time_tm.tm_mon = from->month - 1;
time_tm.tm_mday = from->day;
time_tm.tm_hour = from->hour;
time_tm.tm_min = from->minute;
time_tm.tm_sec = from->second;
time_t seconds = mktime(&time_tm);
to->tv_sec = seconds;
to->tv_usec = from->usecond;
//Fails in 2038..
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;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
leapSeconds = leapSeconds_;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*leapSeconds_ = leapSeconds;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::checkOrCreateClockMutex() {
if (timeMutex == NULL) {
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
#include "../../timemanager/Clock.h"
#include "../../globalfunctions/timevalOperations.h"
#include "../../osal/FreeRTOS/Timekeeper.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <stdlib.h>
#include <time.h>
//TODO sanitize input?
//TODO much of this code can be reused for tick-only systems
uint16_t Clock::leapSeconds = 0;
MutexIF* Clock::timeMutex = nullptr;
uint32_t Clock::getTicksPerSecond(void) {
return 1000;
}
ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
timeval time_timeval;
ReturnValue_t result = convertTimeOfDayToTimeval(time, &time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK){
return result;
}
return setClock(&time_timeval);
}
ReturnValue_t Clock::setClock(const timeval* time) {
timeval uptime = getUptime();
timeval offset = *time - uptime;
Timekeeper::instance()->setOffset(offset);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getClock_timeval(timeval* time) {
timeval uptime = getUptime();
timeval offset = Timekeeper::instance()->getOffset();
*time = offset + uptime;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getUptime(timeval* uptime) {
*uptime = getUptime();
return HasReturnvaluesIF::RETURN_OK;
}
timeval Clock::getUptime() {
TickType_t ticksSinceStart = xTaskGetTickCount();
return Timekeeper::ticksToTimeval(ticksSinceStart);
}
ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
timeval uptime = getUptime();
*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*time = time_timeval.tv_sec * 1000000 + time_timeval.tv_usec;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
timeval time_timeval;
ReturnValue_t result = getClock_timeval(&time_timeval);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
struct tm time_tm;
gmtime_r(&time_timeval.tv_sec,&time_tm);
time->year = time_tm.tm_year + 1900;
time->month = time_tm.tm_mon + 1;
time->day = time_tm.tm_mday;
time->hour = time_tm.tm_hour;
time->minute = time_tm.tm_min;
time->second = time_tm.tm_sec;
time->usecond = time_timeval.tv_usec;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
timeval* to) {
struct tm time_tm;
time_tm.tm_year = from->year - 1900;
time_tm.tm_mon = from->month - 1;
time_tm.tm_mday = from->day;
time_tm.tm_hour = from->hour;
time_tm.tm_min = from->minute;
time_tm.tm_sec = from->second;
time_t seconds = mktime(&time_tm);
to->tv_sec = seconds;
to->tv_usec = from->usecond;
//Fails in 2038..
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;
}
ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
//SHOULDDO: works not for dates in the past (might have less leap seconds)
if (timeMutex == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
uint16_t leapSeconds;
ReturnValue_t result = getLeapSeconds(&leapSeconds);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
timeval leapSeconds_timeval = { 0, 0 };
leapSeconds_timeval.tv_sec = leapSeconds;
//initial offset between UTC and TAI
timeval UTCtoTAI1972 = { 10, 0 };
timeval TAItoTT = { 32, 184000 };
*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
leapSeconds = leapSeconds_;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
*leapSeconds_ = leapSeconds;
result = timeMutex->unlockMutex();
return result;
}
ReturnValue_t Clock::checkOrCreateClockMutex() {
if (timeMutex == NULL) {
MutexFactory* mutexFactory = MutexFactory::instance();
if (mutexFactory == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
timeMutex = mutexFactory->createMutex();
if (timeMutex == NULL) {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}

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osal/FreeRTOS/CountingSemaphUsingTask.cpp
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@ -1,114 +1,114 @@
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
uint8_t initCount): maxCount(maxCount) {
if(initCount > maxCount) {
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
"handle. Please ensure the constructor was called inside a "
"task." << std::endl;
}
uint32_t oldNotificationValue;
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
&oldNotificationValue);
if(oldNotificationValue != 0) {
sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
"current notification value is not 0. Please ensure the "
"notification value is not used for other purposes!" << std::endl;
}
for(int i = 0; i < initCount; i++) {
xTaskNotifyGive(handle);
}
}
CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
// Clear notification value on destruction.
// If this is not desired, don't call the destructor
// (or implement a boolean which disables the reset)
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
else {
timeout = portMAX_DELAY;
}
return acquireWithTickTimeout(timeoutType, timeout);
}
ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
TimeoutType timeoutType, TickType_t timeoutTicks) {
// Decrement notfication value without resetting it.
BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
if (getSemaphoreCounter() == oldCount - 1) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t CountingSemaphoreUsingTask::release() {
if(getSemaphoreCounter() == maxCount) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
return release(handle);
}
ReturnValue_t CountingSemaphoreUsingTask::release(
TaskHandle_t taskToNotify) {
BaseType_t returncode = xTaskNotifyGive(taskToNotify);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
uint32_t notificationValue = 0;
xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
return notificationValue;
}
TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
return handle;
}
ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
uint32_t notificationValue;
xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
higherPriorityTaskWoken);
return notificationValue;
}
uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
return maxCount;
}
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
uint8_t initCount): maxCount(maxCount) {
if(initCount > maxCount) {
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
"handle. Please ensure the constructor was called inside a "
"task." << std::endl;
}
uint32_t oldNotificationValue;
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
&oldNotificationValue);
if(oldNotificationValue != 0) {
sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
"current notification value is not 0. Please ensure the "
"notification value is not used for other purposes!" << std::endl;
}
for(int i = 0; i < initCount; i++) {
xTaskNotifyGive(handle);
}
}
CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
// Clear notification value on destruction.
// If this is not desired, don't call the destructor
// (or implement a boolean which disables the reset)
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
TickType_t timeout = 0;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
else {
timeout = portMAX_DELAY;
}
return acquireWithTickTimeout(timeoutType, timeout);
}
ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
TimeoutType timeoutType, TickType_t timeoutTicks) {
// Decrement notfication value without resetting it.
BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
if (getSemaphoreCounter() == oldCount - 1) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t CountingSemaphoreUsingTask::release() {
if(getSemaphoreCounter() == maxCount) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
return release(handle);
}
ReturnValue_t CountingSemaphoreUsingTask::release(
TaskHandle_t taskToNotify) {
BaseType_t returncode = xTaskNotifyGive(taskToNotify);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
uint32_t notificationValue = 0;
xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
return notificationValue;
}
TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
return handle;
}
ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
uint32_t notificationValue;
xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
higherPriorityTaskWoken);
return notificationValue;
}
uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
return maxCount;
}

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@ -1,105 +1,105 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
/**
* @brief Couting Semaphore implementation which uses the notification value
* of the task. The notification value should therefore not be used
* for other purposes.
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
* This semaphore is bound to the task it is created in!
* Take care of calling this function with the correct executing task,
* (for example in the initializeAfterTaskCreation() function).
*/
class CountingSemaphoreUsingTask: public SemaphoreIF {
public:
CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
virtual ~CountingSemaphoreUsingTask();
/**
* Acquire the counting semaphore.
* If no semaphores are available, the task will be blocked
* for a maximum of #timeoutMs or until one 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 = portMAX_DELAY) override;
/**
* Release a semaphore, increasing the number of available counting
* semaphores up to the #maxCount value.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
/**
* Get the semaphore counter from an ISR.
* @param task
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return
*/
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
BaseType_t* higherPriorityTaskWoken);
/**
* Acquire with a timeout value in ticks
* @param timeoutTicks
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquireWithTickTimeout(
TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY);
/**
* Get handle to the task related to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Release semaphore of task by supplying task handle
* @param taskToNotify
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
static ReturnValue_t release(TaskHandle_t taskToNotify);
/**
* Release seamphore of a task from an ISR.
* @param taskToNotify
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t* higherPriorityTaskWoken);
uint8_t getMaxCount() const;
private:
TaskHandle_t handle;
const uint8_t maxCount;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
/**
* @brief Couting Semaphore implementation which uses the notification value
* of the task. The notification value should therefore not be used
* for other purposes.
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
* This semaphore is bound to the task it is created in!
* Take care of calling this function with the correct executing task,
* (for example in the initializeAfterTaskCreation() function).
*/
class CountingSemaphoreUsingTask: public SemaphoreIF {
public:
CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
virtual ~CountingSemaphoreUsingTask();
/**
* Acquire the counting semaphore.
* If no semaphores are available, the task will be blocked
* for a maximum of #timeoutMs or until one 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 = portMAX_DELAY) override;
/**
* Release a semaphore, increasing the number of available counting
* semaphores up to the #maxCount value.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
/**
* Get the semaphore counter from an ISR.
* @param task
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return
*/
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
BaseType_t* higherPriorityTaskWoken);
/**
* Acquire with a timeout value in ticks
* @param timeoutTicks
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquireWithTickTimeout(
TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY);
/**
* Get handle to the task related to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Release semaphore of task by supplying task handle
* @param taskToNotify
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
static ReturnValue_t release(TaskHandle_t taskToNotify);
/**
* Release seamphore of a task from an ISR.
* @param taskToNotify
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t* higherPriorityTaskWoken);
uint8_t getMaxCount() const;
private:
TaskHandle_t handle;
const uint8_t maxCount;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

86
osal/FreeRTOS/CountingSemaphore.cpp
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@ -1,43 +1,43 @@
#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/semphr.h>
// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
// free FreeRTOSConfig.h file.
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
handle = xSemaphoreCreateCounting(maxCount, initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
}
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
maxCount(other.maxCount), initCount(other.initCount) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
}
CountingSemaphore& CountingSemaphore::operator =(
CountingSemaphore&& other) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
return * this;
}
uint8_t CountingSemaphore::getMaxCount() const {
return maxCount;
}
#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/semphr.h>
// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
// free FreeRTOSConfig.h file.
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
handle = xSemaphoreCreateCounting(maxCount, initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
}
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
maxCount(other.maxCount), initCount(other.initCount) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
}
CountingSemaphore& CountingSemaphore::operator =(
CountingSemaphore&& other) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
return * this;
}
uint8_t CountingSemaphore::getMaxCount() const {
return maxCount;
}

68
osal/FreeRTOS/CountingSemaphore.h
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@ -1,34 +1,34 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#include "../../osal/FreeRTOS/BinarySemaphore.h"
/**
* @brief Counting semaphores, which can be acquire more than once.
* @details
* See: https://www.freertos.org/CreateCounting.html
* API of counting semaphores is almost identical to binary semaphores,
* 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 &&);
/* 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;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#include "../../osal/FreeRTOS/BinarySemaphore.h"
/**
* @brief Counting semaphores, which can be acquire more than once.
* @details
* See: https://www.freertos.org/CreateCounting.html
* API of counting semaphores is almost identical to binary semaphores,
* 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 &&);
/* 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;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

332
osal/FreeRTOS/FixedTimeslotTask.cpp
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@ -1,166 +1,166 @@
#include "FixedTimeslotTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)()) :
started(false), handle(nullptr), pst(overallPeriod * 1000) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
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));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
* To be able to accommodate both cases we check a member which is set in
* #startTask(). If it is not set and we get here, the scheduler was started
* before #startTask() was called and we need to suspend if it is set,
* the scheduler was not running before #startTask() was called and we
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
}
originalTask->taskFunctionality();
sif::debug << "Polling task " << originalTask->handle
<< " returned from taskFunctionality." << std::endl;
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl;
}
}
ReturnValue_t FixedTimeslotTask::startTask() {
started = true;
// We must not call resume if scheduler is not started yet
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
vTaskResume(handle);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* handler =
objectManager->get<ExecutableObjectIF>(componentId);
if (handler != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t FixedTimeslotTask::getPeriodMs() const {
return pst.getLengthMs();
}
ReturnValue_t FixedTimeslotTask::checkSequence() const {
return pst.checkSequence();
}
void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry.
auto slotListIter = pst.current;
pst.intializeSequenceAfterTaskCreation();
//The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs;
TickType_t interval = pdMS_TO_TICKS(intervalMs);
TickType_t xLastWakeTime;
/* The xLastWakeTime variable needs to be initialized with the current tick
count. Note that this is the only time the variable is written to
explicitly. After this assignment, xLastWakeTime is updated automatically
internally within vTaskDelayUntil(). */
xLastWakeTime = xTaskGetTickCount();
// wait for first entry's start time
if(interval > 0) {
vTaskDelayUntil(&xLastWakeTime, interval);
}
/* Enter the loop that defines the task behavior. */
for (;;) {
//The component for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
if (not pst.slotFollowsImmediately()) {
// Get the interval till execution of the next slot.
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
checkMissedDeadline(xLastWakeTime, interval);
// Wait for the interval. This exits immediately if a deadline was
// missed while also updating the last wake time.
vTaskDelayUntil(&xLastWakeTime, interval);
}
}
}
void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand
* it. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
void FixedTimeslotTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
vTaskDelay(pdMS_TO_TICKS(ms));
return HasReturnvaluesIF::RETURN_OK;
}
TaskHandle_t FixedTimeslotTask::getTaskHandle() {
return handle;
}
#include "FixedTimeslotTask.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod overallPeriod,
void (*setDeadlineMissedFunc)()) :
started(false), handle(nullptr), pst(overallPeriod * 1000) {
configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
// All additional attributes are applied to the object.
this->deadlineMissedFunc = setDeadlineMissedFunc;
}
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));
/* Task should not start until explicitly requested,
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
* is running but not if the scheduler is not running.
* To be able to accommodate both cases we check a member which is set in
* #startTask(). If it is not set and we get here, the scheduler was started
* before #startTask() was called and we need to suspend if it is set,
* the scheduler was not running before #startTask() was called and we
* can continue */
if (not originalTask->started) {
vTaskSuspend(NULL);
}
originalTask->taskFunctionality();
sif::debug << "Polling task " << originalTask->handle
<< " returned from taskFunctionality." << std::endl;
}
void FixedTimeslotTask::missedDeadlineCounter() {
FixedTimeslotTask::deadlineMissedCount++;
if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
<< " deadlines." << std::endl;
}
}
ReturnValue_t FixedTimeslotTask::startTask() {
started = true;
// We must not call resume if scheduler is not started yet
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
vTaskResume(handle);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) {
ExecutableObjectIF* handler =
objectManager->get<ExecutableObjectIF>(componentId);
if (handler != nullptr) {
pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t FixedTimeslotTask::getPeriodMs() const {
return pst.getLengthMs();
}
ReturnValue_t FixedTimeslotTask::checkSequence() const {
return pst.checkSequence();
}
void FixedTimeslotTask::taskFunctionality() {
// A local iterator for the Polling Sequence Table is created to find the
// start time for the first entry.
auto slotListIter = pst.current;
pst.intializeSequenceAfterTaskCreation();
//The start time for the first entry is read.
uint32_t intervalMs = slotListIter->pollingTimeMs;
TickType_t interval = pdMS_TO_TICKS(intervalMs);
TickType_t xLastWakeTime;
/* The xLastWakeTime variable needs to be initialized with the current tick
count. Note that this is the only time the variable is written to
explicitly. After this assignment, xLastWakeTime is updated automatically
internally within vTaskDelayUntil(). */
xLastWakeTime = xTaskGetTickCount();
// wait for first entry's start time
if(interval > 0) {
vTaskDelayUntil(&xLastWakeTime, interval);
}
/* Enter the loop that defines the task behavior. */
for (;;) {
//The component for this slot is executed and the next one is chosen.
this->pst.executeAndAdvance();
if (not pst.slotFollowsImmediately()) {
// Get the interval till execution of the next slot.
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
checkMissedDeadline(xLastWakeTime, interval);
// Wait for the interval. This exits immediately if a deadline was
// missed while also updating the last wake time.
vTaskDelayUntil(&xLastWakeTime, interval);
}
}
}
void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand
* it. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
handleMissedDeadline();
}
}
void FixedTimeslotTask::handleMissedDeadline() {
#ifdef DEBUG
sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
" missed deadline!\n" << std::flush;
#endif
if(deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();
}
}
ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
vTaskDelay(pdMS_TO_TICKS(ms));
return HasReturnvaluesIF::RETURN_OK;
}
TaskHandle_t FixedTimeslotTask::getTaskHandle() {
return handle;
}

202
osal/FreeRTOS/FixedTimeslotTask.h
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@ -1,101 +1,101 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/Typedef.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
public:
/**
* Keep in mind that you need to call before vTaskStartScheduler()!
* A lot of task parameters are set in "FreeRTOSConfig.h".
* @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
* @param setPriority Number of priorities specified by
* configMAX_PRIORITIES. High taskPriority_ number means high priority.
* @param setStack Stack size in words (not bytes!).
* Lower limit specified by configMINIMAL_STACK_SIZE
* @param overallPeriod Period in seconds.
* @param setDeadlineMissedFunc Callback if a deadline was missed.
* @return Pointer to the newly created task.
*/
FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod 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 ~FixedTimeslotTask(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) override;
uint32_t getPeriodMs() const override;
ReturnValue_t checkSequence() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() override;
protected:
bool started;
TaskHandle_t handle;
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 for a new task.
* @details
* This method starts the task by calling taskFunctionality(), as soon as
* all requirements (task scheduler has started and startTask()
* has been called) are met.
*/
static void taskEntryPoint(void* argument);
/**
* @brief This function holds the main functionality of the thread.
* @details
* Core function holding the main functionality of the task
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
void taskFunctionality(void);
void checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval);
void handleMissedDeadline();
};
#endif /* POLLINGTASK_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
#include "../../tasks/FixedSlotSequence.h"
#include "../../tasks/FixedTimeslotTaskIF.h"
#include "../../tasks/Typedef.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
public:
/**
* Keep in mind that you need to call before vTaskStartScheduler()!
* A lot of task parameters are set in "FreeRTOSConfig.h".
* @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
* @param setPriority Number of priorities specified by
* configMAX_PRIORITIES. High taskPriority_ number means high priority.
* @param setStack Stack size in words (not bytes!).
* Lower limit specified by configMINIMAL_STACK_SIZE
* @param overallPeriod Period in seconds.
* @param setDeadlineMissedFunc Callback if a deadline was missed.
* @return Pointer to the newly created task.
*/
FixedTimeslotTask(TaskName name, TaskPriority setPriority,
TaskStackSize setStack, TaskPeriod 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 ~FixedTimeslotTask(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) override;
uint32_t getPeriodMs() const override;
ReturnValue_t checkSequence() const override;
ReturnValue_t sleepFor(uint32_t ms) override;
TaskHandle_t getTaskHandle() override;
protected:
bool started;
TaskHandle_t handle;
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 for a new task.
* @details
* This method starts the task by calling taskFunctionality(), as soon as
* all requirements (task scheduler has started and startTask()
* has been called) are met.
*/
static void taskEntryPoint(void* argument);
/**
* @brief This function holds the main functionality of the thread.
* @details
* Core function holding the main functionality of the task
* It links the functionalities provided by FixedSlotSequence with the
* OS's System Calls to keep the timing of the periods.
*/
void taskFunctionality(void);
void checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval);
void handleMissedDeadline();
};
#endif /* POLLINGTASK_H_ */

298
osal/FreeRTOS/MessageQueue.h
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#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
#include "../../ipc/MessageQueueMessageIF.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>
// TODO: this class assumes that MessageQueueId_t is the same size as void*
// (the FreeRTOS handle type), compiler will catch this but it might be nice
// to have something checking or even an always working solution
// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
/**
* @brief This class manages sending and receiving of
* message queue messages.
* @details
* Message queues are used to pass asynchronous messages between processes.
* They work like post boxes, where all incoming messages are stored in FIFO
* order. This class creates a new receiving queue and provides methods to fetch
* received messages. Being a child of MessageQueueSender, this class also
* provides methods to send a message to a user-defined or a default destination.
* In addition it also provides a reply method to answer to the queue it
* received its last message from.
*
* The MessageQueue should be used as "post box" for a single owning object.
* So all message queue communication is "n-to-one".
* For creating the queue, as well as sending and receiving messages, the class
* makes use of the operating system calls provided.
*
* Please keep in mind that FreeRTOS offers different calls for message queue
* operations if called from an ISR.
* For now, the system context needs to be switched manually.
* @ingroup osal
* @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
* in 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( size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
MessageQueue& operator=(const MessageQueue&) = delete;
/**
* @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();
/**
* This function is used to switch the call context. This has to be called
* if a message is sent or received from an ISR!
* @param callContext
*/
void switchSystemContext(CallContext callContext);
/** MessageQueueIF implementation */
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault = false) override;
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override;
MessageQueueId_t getLastPartner() const override;
MessageQueueId_t getId() const override;
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
MessageQueueId_t getDefaultDestination() const override;
bool isDefaultDestinationSet() const override;
protected:
/**
* @brief 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.
* @param context Specify whether call is made from task or from an ISR.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false, CallContext callContext = CallContext::TASK);
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private:
bool defaultDestinationSet = false;
QueueHandle_t handle;
MessageQueueId_t defaultDestination = 0;
MessageQueueId_t lastPartner = 0;
const size_t maxMessageSize;
//! Stores the current system context
CallContext callContext = CallContext::TASK;
};
#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
#include "../../internalError/InternalErrorReporterIF.h"
#include "../../ipc/MessageQueueIF.h"
#include "../../ipc/MessageQueueMessageIF.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>
// TODO: this class assumes that MessageQueueId_t is the same size as void*
// (the FreeRTOS handle type), compiler will catch this but it might be nice
// to have something checking or even an always working solution
// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
/**
* @brief This class manages sending and receiving of
* message queue messages.
* @details
* Message queues are used to pass asynchronous messages between processes.
* They work like post boxes, where all incoming messages are stored in FIFO
* order. This class creates a new receiving queue and provides methods to fetch
* received messages. Being a child of MessageQueueSender, this class also
* provides methods to send a message to a user-defined or a default destination.
* In addition it also provides a reply method to answer to the queue it
* received its last message from.
*
* The MessageQueue should be used as "post box" for a single owning object.
* So all message queue communication is "n-to-one".
* For creating the queue, as well as sending and receiving messages, the class
* makes use of the operating system calls provided.
*
* Please keep in mind that FreeRTOS offers different calls for message queue
* operations if called from an ISR.
* For now, the system context needs to be switched manually.
* @ingroup osal
* @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
* in 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( size_t messageDepth = 3,
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
/** Copying message queues forbidden */
MessageQueue(const MessageQueue&) = delete;
MessageQueue& operator=(const MessageQueue&) = delete;
/**
* @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();
/**
* This function is used to switch the call context. This has to be called
* if a message is sent or received from an ISR!
* @param callContext
*/
void switchSystemContext(CallContext callContext);
/** MessageQueueIF implementation */
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, bool ignoreFault = false) override;
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
ReturnValue_t reply(MessageQueueMessageIF* message) override;
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault = false) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
MessageQueueId_t *receivedFrom) override;
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
ReturnValue_t flush(uint32_t* count) override;
MessageQueueId_t getLastPartner() const override;
MessageQueueId_t getId() const override;
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
MessageQueueId_t getDefaultDestination() const override;
bool isDefaultDestinationSet() const override;
protected:
/**
* @brief 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.
* @param context Specify whether call is made from task or from an ISR.
*/
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
bool ignoreFault=false, CallContext callContext = CallContext::TASK);
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
private:
bool defaultDestinationSet = false;
QueueHandle_t handle;
MessageQueueId_t defaultDestination = 0;
MessageQueueId_t lastPartner = 0;
const size_t maxMessageSize;
//! Stores the current system context
CallContext callContext = CallContext::TASK;
};
#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */

102
osal/FreeRTOS/Mutex.cpp
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@ -1,51 +1,51 @@
#include "../../osal/FreeRTOS/Mutex.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
Mutex::Mutex() {
handle = xSemaphoreCreateMutex();
if(handle == nullptr) {
sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
}
}
Mutex::~Mutex() {
if (handle != nullptr) {
vSemaphoreDelete(handle);
}
}
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType,
uint32_t timeoutMs) {
if (handle == nullptr) {
return MutexIF::MUTEX_NOT_FOUND;
}
// If the timeout type is BLOCKING, this will be the correct value.
uint32_t timeout = portMAX_DELAY;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
BaseType_t returncode = xSemaphoreTake(handle, timeout);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return MutexIF::MUTEX_TIMEOUT;
}
}
ReturnValue_t Mutex::unlockMutex() {
if (handle == nullptr) {
return MutexIF::MUTEX_NOT_FOUND;
}
BaseType_t returncode = xSemaphoreGive(handle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
}
}
#include "../../osal/FreeRTOS/Mutex.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
Mutex::Mutex() {
handle = xSemaphoreCreateMutex();
if(handle == nullptr) {
sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
}
}
Mutex::~Mutex() {
if (handle != nullptr) {
vSemaphoreDelete(handle);
}
}
ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType,
uint32_t timeoutMs) {
if (handle == nullptr) {
return MutexIF::MUTEX_NOT_FOUND;
}
// If the timeout type is BLOCKING, this will be the correct value.
uint32_t timeout = portMAX_DELAY;
if(timeoutType == TimeoutType::POLLING) {
timeout = 0;
}
else if(timeoutType == TimeoutType::WAITING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
BaseType_t returncode = xSemaphoreTake(handle, timeout);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return MutexIF::MUTEX_TIMEOUT;
}
}
ReturnValue_t Mutex::unlockMutex() {
if (handle == nullptr) {
return MutexIF::MUTEX_NOT_FOUND;
}
BaseType_t returncode = xSemaphoreGive(handle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
}
}

58
osal/FreeRTOS/Mutex.h
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@ -1,29 +1,29 @@
#ifndef FRAMEWORK_FREERTOS_MUTEX_H_
#define FRAMEWORK_FREERTOS_MUTEX_H_
#include "../../ipc/MutexIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
/**
* @brief OS component to implement MUTual EXclusion
*
* @details
* Mutexes are binary semaphores which include a priority inheritance mechanism.
* Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
* @ingroup osal
*/
class Mutex : public MutexIF {
public:
Mutex();
~Mutex();
ReturnValue_t lockMutex(TimeoutType timeoutType,
uint32_t timeoutMs) override;
ReturnValue_t unlockMutex() override;
private:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */
#ifndef FRAMEWORK_FREERTOS_MUTEX_H_
#define FRAMEWORK_FREERTOS_MUTEX_H_
#include "../../ipc/MutexIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
/**
* @brief OS component to implement MUTual EXclusion
*
* @details
* Mutexes are binary semaphores which include a priority inheritance mechanism.
* Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
* @ingroup osal
*/
class Mutex : public MutexIF {
public:
Mutex();
~Mutex();
ReturnValue_t lockMutex(TimeoutType timeoutType,
uint32_t timeoutMs) override;
ReturnValue_t unlockMutex() override;
private:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */

56
osal/FreeRTOS/MutexFactory.cpp
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@ -1,28 +1,28 @@
#include "../../ipc/MutexFactory.h"
#include "../../osal/FreeRTOS/Mutex.h"
//TODO: Different variant than the lazy loading in QueueFactory.
//What's better and why? -> one is on heap the other on bss/data
//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
MutexFactory* MutexFactory::factoryInstance = nullptr;
MutexFactory::MutexFactory() {
}
MutexFactory::~MutexFactory() {
}
MutexFactory* MutexFactory::instance() {
if (factoryInstance == nullptr){
factoryInstance = new MutexFactory();
}
return MutexFactory::factoryInstance;
}
MutexIF* MutexFactory::createMutex() {
return new Mutex();
}
void MutexFactory::deleteMutex(MutexIF* mutex) {
delete mutex;
}
#include "../../ipc/MutexFactory.h"
#include "../../osal/FreeRTOS/Mutex.h"
//TODO: Different variant than the lazy loading in QueueFactory.
//What's better and why? -> one is on heap the other on bss/data
//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
MutexFactory* MutexFactory::factoryInstance = nullptr;
MutexFactory::MutexFactory() {
}
MutexFactory::~MutexFactory() {
}
MutexFactory* MutexFactory::instance() {
if (factoryInstance == nullptr){
factoryInstance = new MutexFactory();
}
return MutexFactory::factoryInstance;
}
MutexIF* MutexFactory::createMutex() {
return new Mutex();
}
void MutexFactory::deleteMutex(MutexIF* mutex) {
delete mutex;
}

72
osal/FreeRTOS/QueueFactory.cpp
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@ -1,36 +1,36 @@
#include "../../ipc/QueueFactory.h"
#include "../../osal/FreeRTOS/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);
}
QueueFactory* QueueFactory::instance() {
if (factoryInstance == nullptr) {
factoryInstance = new QueueFactory;
}
return factoryInstance;
}
QueueFactory::QueueFactory() {
}
QueueFactory::~QueueFactory() {
}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
size_t maxMessageSize) {
return new MessageQueue(messageDepth, maxMessageSize);
}
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
delete queue;
}
#include "../../ipc/QueueFactory.h"
#include "../../osal/FreeRTOS/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);
}
QueueFactory* QueueFactory::instance() {
if (factoryInstance == nullptr) {
factoryInstance = new QueueFactory;
}
return factoryInstance;
}
QueueFactory::QueueFactory() {
}
QueueFactory::~QueueFactory() {
}
MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
size_t maxMessageSize) {
return new MessageQueue(messageDepth, maxMessageSize);
}
void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
delete queue;
}

118
osal/FreeRTOS/SemaphoreFactory.cpp
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@ -1,59 +1,59 @@
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreFactory.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
static const uint32_t USE_REGULAR_SEMAPHORES = 0;
static const uint32_t USE_TASK_NOTIFICATIONS = 1;
SemaphoreFactory::SemaphoreFactory() {
}
SemaphoreFactory::~SemaphoreFactory() {
delete factoryInstance;
}
SemaphoreFactory* SemaphoreFactory::instance() {
if (factoryInstance == nullptr){
factoryInstance = new SemaphoreFactory();
}
return SemaphoreFactory::factoryInstance;
}
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
if(argument == USE_REGULAR_SEMAPHORES) {
return new BinarySemaphore();
}
else if(argument == USE_TASK_NOTIFICATIONS) {
return new BinarySemaphoreUsingTask();
}
else {
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
return new BinarySemaphore();
}
}
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
uint8_t initCount, uint32_t argument) {
if(argument == USE_REGULAR_SEMAPHORES) {
return new CountingSemaphore(maxCount, initCount);
}
else if(argument == USE_TASK_NOTIFICATIONS) {
return new CountingSemaphoreUsingTask(maxCount, initCount);
}
else {
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
return new CountingSemaphore(maxCount, initCount);
}
}
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
delete semaphore;
}
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreFactory.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
static const uint32_t USE_REGULAR_SEMAPHORES = 0;
static const uint32_t USE_TASK_NOTIFICATIONS = 1;
SemaphoreFactory::SemaphoreFactory() {
}
SemaphoreFactory::~SemaphoreFactory() {
delete factoryInstance;
}
SemaphoreFactory* SemaphoreFactory::instance() {
if (factoryInstance == nullptr){
factoryInstance = new SemaphoreFactory();
}
return SemaphoreFactory::factoryInstance;
}
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
if(argument == USE_REGULAR_SEMAPHORES) {
return new BinarySemaphore();
}
else if(argument == USE_TASK_NOTIFICATIONS) {
return new BinarySemaphoreUsingTask();
}
else {
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
return new BinarySemaphore();
}
}
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
uint8_t initCount, uint32_t argument) {
if(argument == USE_REGULAR_SEMAPHORES) {
return new CountingSemaphore(maxCount, initCount);
}
else if(argument == USE_TASK_NOTIFICATIONS) {
return new CountingSemaphoreUsingTask(maxCount, initCount);
}
else {
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
return new CountingSemaphore(maxCount, initCount);
}
}
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
delete semaphore;
}

106
osal/FreeRTOS/TaskFactory.cpp
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@ -1,53 +1,53 @@
#include "../../tasks/TaskFactory.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "PeriodicTask.h"
#include "FixedTimeslotTask.h"
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
TaskFactory::~TaskFactory() {
}
TaskFactory* TaskFactory::instance() {
return TaskFactory::factoryInstance;
}
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod period_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return dynamic_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_,
stackSize_, period_, deadLineMissedFunction_));
}
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
*/
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod period_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return dynamic_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_,
taskPriority_,stackSize_, period_, deadLineMissedFunction_));
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
if (task == nullptr) {
//delete self
vTaskDelete(nullptr);
return HasReturnvaluesIF::RETURN_OK;
} else {
//TODO not implemented
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t TaskFactory::delayTask(uint32_t delayMs) {
vTaskDelay(pdMS_TO_TICKS(delayMs));
return HasReturnvaluesIF::RETURN_OK;
}
TaskFactory::TaskFactory() {
}
#include "../../tasks/TaskFactory.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "PeriodicTask.h"
#include "FixedTimeslotTask.h"
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
TaskFactory::~TaskFactory() {
}
TaskFactory* TaskFactory::instance() {
return TaskFactory::factoryInstance;
}
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod period_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return dynamic_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_,
stackSize_, period_, deadLineMissedFunction_));
}
/**
* Keep in Mind that you need to call before this vTaskStartScheduler()!
*/
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_,
TaskPeriod period_,
TaskDeadlineMissedFunction deadLineMissedFunction_) {
return dynamic_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_,
taskPriority_,stackSize_, period_, deadLineMissedFunction_));
}
ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
if (task == nullptr) {
//delete self
vTaskDelete(nullptr);
return HasReturnvaluesIF::RETURN_OK;
} else {
//TODO not implemented
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t TaskFactory::delayTask(uint32_t delayMs) {
vTaskDelay(pdMS_TO_TICKS(delayMs));
return HasReturnvaluesIF::RETURN_OK;
}
TaskFactory::TaskFactory() {
}

48
osal/FreeRTOS/TaskManagement.cpp
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@ -1,24 +1,24 @@
#include "../../osal/FreeRTOS/TaskManagement.h"
void TaskManagement::vRequestContextSwitchFromTask() {
vTaskDelay(0);
}
void TaskManagement::requestContextSwitch(
CallContext callContext = CallContext::TASK) {
if(callContext == CallContext::ISR) {
// This function depends on the partmacro.h definition for the specific device
vRequestContextSwitchFromISR();
} else {
vRequestContextSwitchFromTask();
}
}
TaskHandle_t TaskManagement::getCurrentTaskHandle() {
return xTaskGetCurrentTaskHandle();
}
size_t TaskManagement::getTaskStackHighWatermark(
TaskHandle_t task) {
return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
}
#include "../../osal/FreeRTOS/TaskManagement.h"
void TaskManagement::vRequestContextSwitchFromTask() {
vTaskDelay(0);
}
void TaskManagement::requestContextSwitch(
CallContext callContext = CallContext::TASK) {
if(callContext == CallContext::ISR) {
// This function depends on the partmacro.h definition for the specific device
vRequestContextSwitchFromISR();
} else {
vRequestContextSwitchFromTask();
}
}
TaskHandle_t TaskManagement::getCurrentTaskHandle() {
return xTaskGetCurrentTaskHandle();
}
size_t TaskManagement::getTaskStackHighWatermark(
TaskHandle_t task) {
return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
}

128
osal/FreeRTOS/TaskManagement.h
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@ -1,64 +1,64 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
#include <cstdint>
/**
* Architecture dependant portmacro.h function call.
* Should be implemented in bsp.
*/
extern void vRequestContextSwitchFromISR();
/*!
* Used by functions to tell if they are being called from
* within an ISR or from a regular task. This is required because FreeRTOS
* has different functions for handling semaphores and messages from within
* an ISR and task.
*/
enum class CallContext {
TASK = 0x00,//!< task_context
ISR = 0xFF //!< isr_context
};
class TaskManagement {
public:
/**
* @brief In this function, a function dependant on the portmacro.h header
* function calls to request a context switch can be specified.
* This can be used if sending to the queue from an ISR caused a task
* to unblock and a context switch is required.
*/
static void requestContextSwitch(CallContext callContext);
/**
* If task preemption in FreeRTOS is disabled, a context switch
* can be requested manually by calling this function.
*/
static void vRequestContextSwitchFromTask(void);
/**
* @return The current task handle
*/
static TaskHandle_t getCurrentTaskHandle();
/**
* Get returns the minimum amount of remaining stack space in words
* that was a available to the task since the task started executing.
* Please note that the actual value in bytes depends
* on the stack depth type.
* E.g. on a 32 bit machine, a value of 200 means 800 bytes.
* @return Smallest value of stack remaining since the task was started in
* words.
*/
static size_t getTaskStackHighWatermark(
TaskHandle_t task = nullptr);
};
#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
#include <cstdint>
/**
* Architecture dependant portmacro.h function call.
* Should be implemented in bsp.
*/
extern void vRequestContextSwitchFromISR();
/*!
* Used by functions to tell if they are being called from
* within an ISR or from a regular task. This is required because FreeRTOS
* has different functions for handling semaphores and messages from within
* an ISR and task.
*/
enum class CallContext {
TASK = 0x00,//!< task_context
ISR = 0xFF //!< isr_context
};
class TaskManagement {
public:
/**
* @brief In this function, a function dependant on the portmacro.h header
* function calls to request a context switch can be specified.
* This can be used if sending to the queue from an ISR caused a task
* to unblock and a context switch is required.
*/
static void requestContextSwitch(CallContext callContext);
/**
* If task preemption in FreeRTOS is disabled, a context switch
* can be requested manually by calling this function.
*/
static void vRequestContextSwitchFromTask(void);
/**
* @return The current task handle
*/
static TaskHandle_t getCurrentTaskHandle();
/**
* Get returns the minimum amount of remaining stack space in words
* that was a available to the task since the task started executing.
* Please note that the actual value in bytes depends
* on the stack depth type.
* E.g. on a 32 bit machine, a value of 200 means 800 bytes.
* @return Smallest value of stack remaining since the task was started in
* words.
*/
static size_t getTaskStackHighWatermark(
TaskHandle_t task = nullptr);
};
#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

82
osal/FreeRTOS/Timekeeper.cpp
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@ -1,41 +1,41 @@
#include "../../osal/FreeRTOS/Timekeeper.h"
#include "FreeRTOSConfig.h"
Timekeeper * Timekeeper::myinstance = nullptr;
Timekeeper::Timekeeper() : offset( { 0, 0 } ) {}
Timekeeper::~Timekeeper() {}
const timeval& Timekeeper::getOffset() const {
return offset;
}
Timekeeper* Timekeeper::instance() {
if (myinstance == nullptr) {
myinstance = new Timekeeper();
}
return myinstance;
}
void Timekeeper::setOffset(const timeval& offset) {
this->offset = offset;
}
timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
timeval uptime;
uptime.tv_sec = ticks / configTICK_RATE_HZ;
//TODO explain, think about overflow
uint32_t subsecondTicks = ticks % configTICK_RATE_HZ;
uint64_t usecondTicks = subsecondTicks * 1000000;
uptime.tv_usec = usecondTicks / configTICK_RATE_HZ;
return uptime;
}
TickType_t Timekeeper::getTicks() {
return xTaskGetTickCount();
}
#include "../../osal/FreeRTOS/Timekeeper.h"
#include "FreeRTOSConfig.h"
Timekeeper * Timekeeper::myinstance = nullptr;
Timekeeper::Timekeeper() : offset( { 0, 0 } ) {}
Timekeeper::~Timekeeper() {}
const timeval& Timekeeper::getOffset() const {
return offset;
}
Timekeeper* Timekeeper::instance() {
if (myinstance == nullptr) {
myinstance = new Timekeeper();
}
return myinstance;
}
void Timekeeper::setOffset(const timeval& offset) {
this->offset = offset;
}
timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
timeval uptime;
uptime.tv_sec = ticks / configTICK_RATE_HZ;
//TODO explain, think about overflow
uint32_t subsecondTicks = ticks % configTICK_RATE_HZ;
uint64_t usecondTicks = subsecondTicks * 1000000;
uptime.tv_usec = usecondTicks / configTICK_RATE_HZ;
return uptime;
}
TickType_t Timekeeper::getTicks() {
return xTaskGetTickCount();
}

80
osal/FreeRTOS/Timekeeper.h
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@ -1,40 +1,40 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
#define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
#include "../../timemanager/Clock.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
/**
* A Class to basically store the time difference between uptime and UTC
* so the "time-agnostic" FreeRTOS can keep an UTC Time
*
* Implemented as Singleton, so the FSFW Clock Implementation (see Clock.cpp)
* can use it without having a member.
*/
class Timekeeper {
private:
Timekeeper();
timeval offset;
static Timekeeper * myinstance;
public:
static Timekeeper * instance();
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);
};
#endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
#define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
#include "../../timemanager/Clock.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
/**
* A Class to basically store the time difference between uptime and UTC
* so the "time-agnostic" FreeRTOS can keep an UTC Time
*
* Implemented as Singleton, so the FSFW Clock Implementation (see Clock.cpp)
* can use it without having a member.
*/
class Timekeeper {
private:
Timekeeper();
timeval offset;
static Timekeeper * myinstance;
public:
static Timekeeper * instance();
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);
};
#endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */